Title:
HUMAN-ROBOT COLLABORATION PLANNING AND MONITORING TECHNOLOGY
Document Type and Number:
WIPO Patent Application WO/2015/049202
Kind Code:
A3
Abstract:
The invention relates to a technology for planning and monitoring human-robot collaboration processes. In a monitoring method, a layout (32) of a work area is recorded, in which work area a human (28) and a manipulator (10) interact within a collaboration area (50). Human-robot collaboration zones (MRK1, MRK2, MRK3, MRK4) are indicated, and optionally body zones or body parts at risk of collision are specified. Limit geometries (G1, G2) are recorded for the manipulator (10) and/or a manipulator attachment (36), and the actual motion path of at least one reference point (TCP, POI, K1, K2, K3) is recorded during the activity of the manipulator (10). By means of an automated evaluation module (38), a permissible process velocity (v_zul) for following the motion path is determined. The actual process velocity (v_POI, v_TCP) is compared with the determined permissible process velocity (v_zul).
Inventors:
KLUMPP WILLI (DE)
ZÜRN MICHAEL (DE)
REICHENBACH MATTHIAS (DE)
KLUMPP SIMON (DE)
WIRTH KONRAD (DE)
EBERDT CHRISTIAN (DE)
ZUNKE RICHARD (DE)
KÜHNEMANN RALF (DE)
GÜRTLER ALEXANDER (DE)
NEUREITER REINHARD (DE)
BSCHORR MARKUS (DE)
LEIDERER DANIEL (DE)
RAU THOMAS (DE)
ZÜRN MICHAEL (DE)
REICHENBACH MATTHIAS (DE)
KLUMPP SIMON (DE)
WIRTH KONRAD (DE)
EBERDT CHRISTIAN (DE)
ZUNKE RICHARD (DE)
KÜHNEMANN RALF (DE)
GÜRTLER ALEXANDER (DE)
NEUREITER REINHARD (DE)
BSCHORR MARKUS (DE)
LEIDERER DANIEL (DE)
RAU THOMAS (DE)
Application Number:
PCT/EP2014/070791
Publication Date:
May 28, 2015
Filing Date:
September 29, 2014
Export Citation:
Assignee:
KUKA SYSTEMS GMBH (DE)
International Classes:
B25J9/16
Domestic Patent References:
| WO2012076029A1 | 2012-06-14 | |||
| WO2010063319A1 | 2010-06-10 |
Other References:
OLESYA OGORODNIKOVA: "Human Robot Interaction: The Safety Challenge (An integrated frame work for human safety)", 10 January 2010 (2010-01-10), pages 1 - 114, XP055177445, Retrieved from the Internet [retrieved on 20150318]
OGORODNIKOVA O O: "An integrated monitoring system for the human robot collaborative workspace", SOFT COMPUTING APPLICATIONS, 2009. SOFA '09. 3RD INTERNATIONAL WORKSHOP ON, IEEE, PISCATAWAY, NJ, USA, 29 July 2009 (2009-07-29), pages 61 - 66, XP031530168, ISBN: 978-1-4244-5054-1
TAN J T C ET AL: "Safety design and development of human-robot collaboration in cellular manufacturing", AUTOMATION SCIENCE AND ENGINEERING, 2009. CASE 2009. IEEE INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 22 August 2009 (2009-08-22), pages 537 - 542, XP031526872, ISBN: 978-1-4244-4578-3
OGORODNIKOVA O O: "An integrated monitoring system for the human robot collaborative workspace", SOFT COMPUTING APPLICATIONS, 2009. SOFA '09. 3RD INTERNATIONAL WORKSHOP ON, IEEE, PISCATAWAY, NJ, USA, 29 July 2009 (2009-07-29), pages 61 - 66, XP031530168, ISBN: 978-1-4244-5054-1
TAN J T C ET AL: "Safety design and development of human-robot collaboration in cellular manufacturing", AUTOMATION SCIENCE AND ENGINEERING, 2009. CASE 2009. IEEE INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 22 August 2009 (2009-08-22), pages 537 - 542, XP031526872, ISBN: 978-1-4244-4578-3
Attorney, Agent or Firm:
ERNICKE, Klaus (Augsburg, DE)
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