Work space border observing method for e.g. industrial robot, involves determining pose of working unit from robot movement course and stopping robot when point of space outline of unit penetrates into border zone

摘要

The method involves determining a pose of a working unit from a robot movement course based on a momentary pose of the unit. Stop movement of the unit is determined based on brake introduction from the pose. A border zone extending inwards from a work space border is defined for a work space. Penetration of a space outline of the unit into the zone is checked for the stop movement. Maximum speeds at which the unit does not penetrate into the zone are determined. A robot e.g. industrial robot, is stopped when a point of the outline penetrates into the zone.