Method for collision-avoiding control of task-oriented programmed robots

摘要

Task-oriented programmed robots are to be able to execute complex commands such as, e.g., "bring workpiece A from table to conveyor belt". In this case, the path planning that is to be automatically carried out by the robot after input of the command must bypass in a collision-avoiding fashion objects (O) situated in the working zone of the robot. For this purpose, the robot control can access an object table in which there are stored the object zones (OB) which are situated in the shadow zone of an object (O) and therefore cannot be reached by the robot. By bypassing the object zones (OB) when executing a robot movement, it is automatically ensured that the robot does not knock against an object (O) in the working zone with any part of its superstructure. IMAGE