Manipulator e.g. articulated-arm robot, position monitoring method, involves determining permissible position of manipulator, and outputting message indicating whether articulation co-ordinates of manipulator lies outside permissible region

摘要

The method involves determining a permissible position (Xz) of a manipulator e.g. articulated-arm robot (1), in a working space (X). The permissible position in a permissible region is transformed into coordinate space of the manipulator. A verification is made whether articulation angles (a1-a3) of the manipulator lies outside the permissible region in a position to be verified. A message indicating whether the articulation angles lies outside the permissible region is outputted. The manipulator in the permissible position do not collides with environment in the working space. Independent claims are also included for the following: (1) a monitoring device for a manipulator i.e. robot (2) a computer program comprising instructions for performing a method for monitoring a position of a manipulator i.e. robot (3) a computer program product comprising instructions for performing a method for monitoring a position of a manipulator i.e. robot.