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TEACH MODE COLLISION AVOIDANCE SYSTEM AND METHOD FOR INDUSTRIAL ROBOTIC MANIPULATORS.
TEACH MODE COLLISION AVOIDANCE SYSTEM AND METHOD FOR INDUSTRIAL ROBOTIC MANIPULATORS.
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机译：工业机器人的教学模式碰撞避免系统和方法。
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摘要
A robot system ( 100) includes a robot (1 10), a teach pendant (130) having an operator interface, and a robot controller (120) with a computer (140) and associated hardware and software containing a virtual representation of the robot (1 10) and the environment (151). The system (100) employs a method for avoiding collisions including moving a manipulator arm (165) along an actual path (175) in an environment (151) containing objects (177) constituting collision geometry. Operator input is entered into the teach pendant (130), whereby the operator is able to directly control motion of the robot (1 10) along the actual path (175). A recent history of the motion of the robot (1 10) is recorded, and a predicted path (660) of the robot (1 10) is developed based on the input entered into the teach pendant (130) and the recent history of the motion of the robot (1 10). Real-time collision checking between the predicted path (660) and the collision geometry is performed while the operator manually controls the robot (1 10) using the teach pendant (130).
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