Method and apparatus for limiting the movement of a robot, and a robot equipped with said apparatus
作者： Kazutsugu Suita , Morihiko Okura
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摘要: The safety in robotic operations is enhanced and the floor space a factory or like effectively utilized. A virtual barrier 50 including trajectory of movement work tool 7 mounted on wrist 5 robot 1 operation defined memory. At least two three-dimensional spatial regions S (S1 to S3) part are defined. Predicted positions obtained by calculations matched with 50, if predicted position any one based included control effected stop arms 3 4.
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