发明名称 |
Method and apparatus for limiting the movement of a robot, and a robot equipped with said apparatus |
摘要 |
The safety in robotic operations is enhanced and the floor space in a factory or the like is effectively utilized. A virtual safety barrier 50 including the trajectory of movement of a work or tool 7 mounted on a wrist 5 of a robot 1 in operation is defined in a memory. At least two three-dimensional spatial regions S (S1 to S3) including a part of the robot including the work or tool are defined. Predicted positions of the defined three-dimensional spatial regions obtained by trajectory calculations are matched with the virtual safety barrier 50, and if the predicted position of any one of the defined three-dimensional spatial regions based on trajectory calculations is included in the virtual safety barrier 50, a control is effected to stop the movement of the robot arms 3 and 4.
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申请公布号 |
US7664570(B2) |
申请公布日期 |
2010.02.16 |
申请号 |
US20040829153 |
申请日期 |
2004.04.22 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
SUITA KAZUTSUGU;OKURA MORIHIKO |
分类号 |
B25J19/06;B25J9/16;B25J9/18;G05B19/19 |
主分类号 |
B25J19/06 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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