DYNAMICAL SAFETY TRAJECTORIES IN A ROBOTIC SYSTEM

摘要

A method for conditionally stopping a robot, wherein a maximum stopping time and/or distance are defined by a user or integrator through a user interface as safety limits based on the risk assessment. The method provides the continuous calculation of the time and/or distance, which the robot would need to stop under maximum motor torque and/or brake appliance. The robot is stopped if the calculated time and/or distance exceeds the maximum limit values set by the user or integrator.