mrk (20) - and monitoring technology

摘要

The invention relates to a technology for planning and monitoring of humans - robots - collagen fiber borate ion sequences. In a monitoring method, a layout (32) of a working area is detected, in which a person (28) and a manipulator (10) within a collaboration region (50) interaction. There are people - robots - collaboration zones (mrk1, mrk2, mrk3, mrk4) and, if appropriate, collision endangered body zones or body parts stated. For the manipulator (10) and / or a manipulator assembly (36) are grenz geometries (g1, g2) and it is detected during the operation of the manipulator (10) the actual path of motion of at least one reference point (tcp, poi, k1, k2, k3) detects. By means of an automatic evaluation module (38), a permissible speed (v _ zul) for the tracking of the path of movement is determined. The actual processing speed (v _ poi, v _ tcp), with the determined permissible speed (v _ zul) compared.