Robot control method in which movement of robot within production hall is contained by definition of virtual safety limit which is used in conjunction with predicted positions of robot arm

摘要

Method for limiting the movement of a robot in which a virtual safety limit (50) is defined together with a movement path of a workpiece or a tool (7) held in a manipulation linkage (5) of an operating robot (1) and stored in memory. At least two 3D spaces (S1, S2) are defined that contain a part of the robot with its workpiece or tool. Predicted positions of the defined 3D spatial regions are compared with the virtual safety limit, and provided the spatial regions remain within the safety limit, movement of the robot arm is carried out. The invention also relates to a robot for implementation of the inventive method. Independent claims are also included for the following:- (a) a device for limiting the movement of a robot and; (b) a method for limiting the movement of a robot in which for each step of a movement program the virtual safety limit is checked.