Robot control during an e-stop event
US8738180B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 14, 2011 |
| Grant date | May 27, 2014 |
| Priority date | — |
| Expiry date | Nov 15, 2032 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.