Method and apparatus for stopping an industrial robot
US5204598A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 21, 1991 |
| Grant date | Apr 20, 1993 |
| Priority date | — |
| Expiry date | Nov 21, 2011 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49142
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.