SAFETY LIMITING METHOD AND APPARATUS FOR DUAL-ARM COLLABORATIVE ROBOT, DEVICE, AND STORAGE MEDIUM

WIPO Patent Application WO/2024/001263

A1

The present application discloses a safety limiting method and apparatus for a dual-arm collaborative robot, a device, and a storage medium. The method comprises: obtaining operation information of an interference object, and mapping the operation information into a virtual working scenario; determining a safety limiting boundary range of a dual-arm collaborative robot according to the virtual working scenario and the operation information mapped into the virtual working scenario; calculating the shapes of an enveloping space and a sweeping space occupied by the interference object in the virtual working scenario; obtaining an actual motion range of the dual-arm collaborative robot, and when the actual motion range is within the safety limiting boundary range of the dual-arm collaborative robot, enhancing the shapes of the enveloping space and the sweeping space occupied by the interference object onto the interference object so as to obtain a safety limiting boundary range of the interference object; and performing safety limiting according to an actual motion trajectory of the dual-arm collaborative robot and the safety limiting boundary range of the interference object.

WEI ANGANG (CN)
WANG ENMIN (CN)
REN XIN (CN)
TONG TONG (CN)
LYU LIANG (CN)
DU JINGYU (CN)
WU HAO (CN)

PCT/CN2023/079050

January 04, 2024

March 01, 2023

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HUANENG CLEAN ENERGY RES INST (CN)

B25J9/16

CN114905520A	2022-08-16
CN109465835A	2019-03-15
CN101039779A	2007-09-19
CN113370210A	2021-09-10
US20200164516A1	2020-05-28
KR20150121403A	2015-10-29
US20210379763A1	2021-12-09

SUNSHINE INTELLECTUAL PROPERTY INTERNATIONAL CO., LTD. (CN)

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