WO2021249379A1 - Robot industriel ayant des performances de commande de sécurité améliorées, et son procédé de commande - Google Patents

Robot industriel ayant des performances de commande de sécurité améliorées, et son procédé de commande Download PDF

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Publication number
WO2021249379A1
WO2021249379A1 PCT/CN2021/098849 CN2021098849W WO2021249379A1 WO 2021249379 A1 WO2021249379 A1 WO 2021249379A1 CN 2021098849 W CN2021098849 W CN 2021098849W WO 2021249379 A1 WO2021249379 A1 WO 2021249379A1
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WIPO (PCT)
Prior art keywords
joint
robot
information
safety information
control module
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PCT/CN2021/098849
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English (en)
Chinese (zh)
Inventor
孙恺
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苏州艾利特机器人有限公司
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Publication date
Priority claimed from CN202010522986.4A external-priority patent/CN113771026A/zh
Priority claimed from CN202021060878.1U external-priority patent/CN212421307U/zh
Application filed by 苏州艾利特机器人有限公司 filed Critical 苏州艾利特机器人有限公司
Publication of WO2021249379A1 publication Critical patent/WO2021249379A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the invention relates to the field of industrial robots, in particular to an industrial robot that improves safety control performance and a control method thereof.
  • robots have begun to be widely used in various fields, including household robots, industrial robots and many other fields.
  • collaborative robots can assist people in completing tasks efficiently, and can complete tasks in hazardous environments with high precision and efficiency, so they are widely favored.
  • Collaborative robots may need to interact with humans at close range at work.
  • the safety performance of collaborative robots is an important indicator.
  • the conventional robot system has the function of collision detection, which detects the collision between the robot and its environment through the abnormal torque generated at the parts of the manipulator, and when the collision is detected, the robot system performs control to stop the operation of the robot or otherwise reduce the collision.
  • the collision of the environment In this collision detection method, the sensitivity of collision detection is very important. However, it is very difficult to detect the collision between human and robot based on the torque of the robot's manipulator. The collision between is not reliable enough.
  • the purpose of the present invention is to provide an industrial robot with good safety performance and a control method thereof.
  • an industrial robot including: a base frame for carrying the industrial robot; a mechanical arm connected to the base frame, the mechanical arm including two or more mechanical arm parts; joints, For connecting adjacent parts of the robotic arm, the joint includes a transmission device; the execution end, one end is connected to the robotic arm, and the other end can be connected to a tool to drive the tool to perform work tasks through the robotic arm; characterized in that, the industrial robot It also includes a posture sensor, which is arranged at the joint, or at the joint and the execution end, for detecting at least one of the position and speed of the joint; a motor encoder, which is arranged at the transmission device, For detecting at least one of the position and speed of the industrial robot joint; the control module includes a first control module and a second control module, the first control module is electrically connected to the attitude sensor, and is used to obtain first safety information; The second control module is electrically connected to the motor encoder for obtaining second safety information; the control module compares the first safety information with the second safety information
  • the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint, and the first safety information includes the torque information.
  • control module controls the industrial robot to perform safe actions.
  • the attitude sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
  • first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
  • the joint includes an elbow joint
  • the elbow joint is used to connect two adjacent parts of the robot arm that are relatively long
  • the first safety information and the second safety information further include Information obtained from at least one of joint position and joint torque, which includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, Robot momentum, robot stopping distance, robot stopping time, emergency stop, protective stop, robot moving digital output, robot not stopping digital output, mode area reduction.
  • a control method of an industrial robot includes: a base support for carrying the industrial robot; a mechanical arm connected to the base support, the mechanical arm includes two and The above part of the robot arm; a joint for connecting adjacent parts of the robot arm, the joint including a transmission device; an execution end, one end is connected to the robot arm, and the other end can be connected to a tool to drive the tool through the robot arm to perform work tasks;
  • the attitude sensor is arranged at the joint, or at the joint and the execution end;
  • the motor encoder is arranged at the transmission device;
  • the control module includes a first control module and a second control Module, the first control module is electrically connected to the attitude sensor, and the second control module is electrically connected to the motor encoder;
  • the control method includes: the attitude sensor detects the joint position and speed of the industrial robot At least one; the motor encoder detects at least one of the joint position and speed of the industrial robot; the first control module obtains the first safety information;
  • the attitude sensor includes at least one of an inertial measurement unit, a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speed sensor.
  • first safety information and the second safety information respectively include joint position information, joint speed information, and joint torque information.
  • the joint includes an elbow joint, and the elbow joint is used to connect the relatively long adjacent two mechanical arm parts, and the first safety information and the second safety information further include the joint speed and joint position respectively.
  • the information obtained from at least one of the joint torque, the information includes at least part of the following: tool position, tool orientation, tool speed, tool force, elbow joint position, elbow joint speed, elbow joint force, robot power, robot momentum, Robot stopping distance, robot stopping time, emergency stop, protection stop, robot moving digital output, robot not stopping digital output, mode area reduced.
  • control method includes: acquiring the initial position of the industrial robot, and the first control module acquires the position of the joint according to the initial position.
  • the industrial robot includes a plurality of joints connected in sequence, the plurality of joints including a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the robot is configured
  • the method includes: determining that the first safety information and the second safety information of the same joint are inconsistent, controlling the industrial robot to perform a safe action.
  • the industrial robot is a tandem robot, the robot includes six joints, the head joint is a first joint, the end joint is a sixth joint, and the robot is configured as a second to sixth joint
  • a posture sensor is installed to obtain at least one of the position and speed of the previous joint, and the execution end of the robot is installed with a posture sensor to obtain at least one of the position and speed of the sixth joint.
  • the method includes: the first control module obtains the first safety information according to the attitude sensor and the motor encoder; the second control module obtains the second safety information of the same joint according to the attitude sensor and the motor encoder; and compares the first safety information When it is inconsistent with the second safety information, control the industrial robot to perform safe actions.
  • the method includes: the first control module obtains the first safety information according to the attitude sensor; the second control module obtains the second safety information of the same joint according to the motor encoder; and compares when the first safety information and the second safety information are inconsistent , Control industrial robots to perform safe actions.
  • the present invention protects an industrial robot.
  • Fig. 1 exemplarily shows a perspective view of an industrial robot 100 according to an embodiment of the present invention
  • Fig. 2 exemplarily shows an industrial robot 100 according to an embodiment of the present invention.
  • FIG. 3 shows a cross-sectional view of the joint 130 according to an embodiment of the present invention.
  • the industrial robot 100 includes a base support 110, which is used to carry the industrial robot 100. The user can install the industrial robot 100 to a work platform through the base support 110 to perform work; a mechanical arm is connected to the base The support 110 can be moved to perform the tasks of the robot 100.
  • the execution end 140 includes an execution end, one end is fixedly connected to the robot arm, and the other end can be installed with a tool 200 to perform work.
  • the above-mentioned industrial robot 100 further includes an attitude sensor 133, which is arranged at the joint 130, or arranged at the joint 130 and the execution end 140, for detecting at least one of the position and speed of the robot joint 130, specifically ,
  • the information detected by the posture sensor 133 of the execution end 140 is used to obtain the position and speed information of the joint 130 before the execution end 140.
  • the attitude sensor is used to detect at least one of the position and speed of the robot joint, and the "detection" includes information directly detected by the attitude sensor, and also includes information obtained after processing based on the information directly detected by the attitude sensor.
  • the first safety information and the second safety information are respectively obtained through the first control module and the second control module, and the first safety information, the second safety information and the second safety information respectively pass through different channels, that is, through different sensors and different
  • the control module of the industrial robot performs detection to make the detection result independent, unsafe factors can be discovered in time, and the industrial robot 100 has good safety performance.
  • the first safety information and the second safety information respectively include multiple pieces of information. Comparing the inconsistency between the first safety information and the second safety information includes comparing each item of information to determine whether they are consistent. When the first safety information and the second safety information are inconsistent, When a certain item of information in is inconsistent, the robot 100 is controlled to perform a safe operation. It should be noted that there may be necessary errors in the acquisition of the first safety information and the second safety information. This should not be included in the comparison of the first safety information and the second safety information. The so-called inconsistency judgment, Allow the existence of necessary errors. The so-called inconsistent judgment indicates that the first safety information and the second safety information are substantially inconsistent, rather than the inconsistency caused by necessary detection or calculation errors.
  • the industrial robot 100 includes many types.
  • the collaborative robot is one of the rapid developments in recent years.
  • the control module of the collaborative robot includes at least two parts, namely the control box of the collaborative robot and the control unit at the joint 130 of the collaborative robot.
  • the control of the collaborative robot The box is its master control center, which can process the work information of the collaborative robots and generate appropriate work instructions according to the current working conditions.
  • the industrial robot 100 also includes a user interface device for programming the industrial robot 100 to control it to perform preset operations.
  • the user interface device includes a teach pendant, which is arranged outside the main body of the industrial robot 100 and can be connected to the main body of the industrial robot 100, and the industrial robot 100 includes the teach pendant.
  • the attitude sensor 133 can obtain the position and speed of the joint 130, and the motor encoder 132 can also obtain the position and torque of the joint 130.
  • Speed the two work independently to obtain the position and speed information of the joint 130 in the first safety information and the position and speed information of the joint 130 in the second safety information respectively.
  • the above-mentioned attitude sensor 133 can obtain the position and speed information of the joint 130.
  • the first control module can calculate the torque information of the joint 130 based on the position and speed information of the joint 130 detected by the attitude sensor 133.
  • the above-mentioned first safety information includes the first control module.
  • the position and velocity information of the joint 130 obtained by the attitude sensor 133 also includes the joint 130 position and velocity information detected by the first control module through the aforementioned velocity or acceleration information, and the torque of the joint 130 calculated. Further, the first control module obtains the relative posture of the joint based on the detection of the posture sensor, obtains the joint position based on the relative posture of the joint, and then calculates the torque information of the joint. That is, the posture sensor directly detects the output of the joint relative to itself. For the relative posture, the angle difference is obtained from the difference in the projection of the relative posture on the rotating vertical plane, that is, the position and speed of the joint can be determined, combined with the mass distribution of the manipulator and the friction model to finally obtain the joint torque.
  • the above-mentioned attitude sensor is also provided on the execution end to detect the joint position and speed information of the previous joint on the execution end, and the first control module calculates the position and speed information of the previous joint on the execution end.
  • Joint torque information The industrial robot 100 further includes a current sensor 134.
  • the second control module obtains torque information of the joint 130 according to the current sensor 134.
  • the second safety information includes the torque information of the joint 130 detected by the current sensor 134.
  • the above-mentioned second safety information includes the position and speed information of the joint 130 obtained by the second control module through the motor encoder 132, and the torque information of the joint 130 obtained by the second control module through the current sensor 134.
  • the joint 130 of the industrial robot 100 includes a motor encoder 132 and a posture sensor 133.
  • the first control module obtains the position and speed information of the joint 130 through the motor encoder 132
  • the second control module obtains the joint 130 through the posture sensor 133. 130.
  • the position and speed information of the joint 130 on the joint 130 because the data information detected by the posture sensor 133 at the joint 130 actually reflects the output of the joint 130 on the joint 130. Therefore, the data detected by the posture sensor of the joint 130 , The position and speed information of a joint 130 on the joint 130 can be obtained.
  • the execution end 140 of the industrial robot 100 includes speed and acceleration sensors, that is, the execution end of the industrial robot 100 includes a posture sensor.
  • the information detected by the posture sensor 133 at the execution end is used to obtain the execution.
  • the joint speed and position of a joint 130 are listed.
  • the industrial robot 100 is a six-axis robot 100.
  • the execution end is provided with speed and acceleration sensors, and the posture sensor 133 at the execution end is used to obtain the position and speed information of the sixth joint of the industrial robot 100, and Together with the motor encoder 132 at the sixth joint, the position and speed information of the joint are obtained, the position and speed information of the joint 130 of the first safety information, and the shutdown position and speed information of the second safety information are obtained.
  • the first safety information includes the information obtained by the first control module through the attitude sensor 133 and the information obtained by calculating the information obtained by the speed or acceleration;
  • the second safety information includes the information obtained by the second control module through the motor encoder The information obtained by 132 and the information obtained by the current sensor 134. So far, the joint position, speed, and torque of the first safety information can be obtained through the first control module and the second control module, and the joint position, speed, and torque of the second safety information can be obtained by comparing the corresponding items of the two. Determine whether to perform a safe action.
  • the joints of the industrial robot 100 are provided with a posture sensor 133 and a current sensor 134, and the executive end of the industrial robot is provided with a posture sensor 133.
  • the joint 130 is connected to the adjacent mechanical arm part 121, and the joint is manipulated. 130 to control the movement of the robotic arm part 121 connected to it.
  • the joint 130 and the mechanical arm part 121 are connected in an easily detachable manner, such as a threaded connection.
  • the attitude sensor 133 and the current sensor 134 By arranging the attitude sensor 133 and the current sensor 134 mainly at the joint 130, the electronic components of the main body of the industrial robot 100 are concentrated on the joint 130.
  • the joint 130 and the mechanical arm part 121 can be designed and installed in a modular manner. Part of the failure is easy to replace and install.
  • the industrial robot 100 includes a control module.
  • the control module includes a control machine located outside the mainframe of the industrial robot 100 and a control unit located at the joints of the industrial robot 100.
  • the control unit By setting the control unit at the joints 130, the control part of the main body of the industrial robot 100 It is generally concentrated at the joint 130, which facilitates the modular design and installation of the robot 100, and makes the use experience of the industrial robot 100 better.
  • control module when the control module compares the first security information and the second security information to be inconsistent, execute a security action. Further, when at least one of the first safety information and the second safety information cannot meet the preset safety condition, the control module controls the industrial robot 100 to perform a safe action. That is, when the first safety information and the second safety information are consistent, a certain item of detection information in the first safety information and the second safety information may not meet the preset safety requirements. At this time, the control module controls the industrial robot 100 to perform safety action.
  • the attitude sensor includes at least one of an inertial measurement unit (I MU), a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and a three-axis speedometer.
  • I MU inertial measurement unit
  • Two or more, for example, most of the attitude sensors used in common mobile phones are nine-axis sensors, including three-axis accelerometers, inertial measurement units, and three-axis magnetometers.
  • the attitude sensor is used to obtain at least one of joint position and joint speed information of the industrial robot 100.
  • the industrial robot 100 acquiring joint position information through the attitude sensor 133 also includes acquiring the initial position of the joints of the industrial robot 100 before the industrial robot 100 starts working.
  • the first safety information and the second safety information of the present invention respectively include joint position information, joint speed information, and joint torque information.
  • the first safety information and the second safety information also include The information obtained according to at least one of the above-mentioned joint position information, joint speed information, and joint torque information specifically includes at least part of the following:
  • Tool speed that is, limit the maximum speed of the tool of the robot 100.
  • the speed of the tool of the robot 100 is calculated through the first control module and the second control module.
  • the first safety information and the second safety information respectively include the tool speed. Compare the first When the tool speeds of the safety information and the second safety information are different, the industrial robot 100 is controlled to perform a safe operation.
  • the industrial robot 100 usually has multiple joints, and its robotic arm is usually composed of multiple robotic arm parts 121.
  • the robotic arm part 121 includes two relatively long parts, and other relatively short ones.
  • a joint connecting two relatively long adjacent manipulator parts 121 is defined as an elbow joint.
  • the elbow joint is one joint, that is, the two relatively long parts of the robot arm are connected by one joint.
  • the elbow joint may also include two joints, that is, through The two joints are connected to the two relatively long robotic arm parts 121.
  • the position of the elbow joint that is, the position range of the elbow joint is restricted. Similar to the above, the first control module and the second control module respectively calculate the position of the elbow joint, and perform safe actions when the two are inconsistent.
  • Robot momentum that is, limit the maximum robot momentum. Similar to the above, the first control module and the second control module calculate the robot momentum separately, and perform safe actions when the two are inconsistent.
  • Robot stopping distance which limits the maximum distance that the robot tool or elbow can move when stopping the robot. Similar to the above, the first control module and the second control module calculate the stopping distance of the robot 100 respectively, and perform safe actions when the two are inconsistent .
  • the robot stop time is to limit the maximum time it takes to stop the robot. For example, when the emergency stop is activated, similar to the above, the first control module and the second control module calculate the stop time of the robot 100 separately, and calculate the stop time of the robot 100. Perform safety actions when inconsistent.
  • Robot protection stop that is, the protection stop is executed when the input pin is low and the robot is in automatic mode. Similar to the above, the first control module and the second control module obtain the robot protection stop information respectively, and execute safety when the two are inconsistent action.
  • the digital output of robot movement is to obtain the digital output information of the robot movement. Similar to the above, the first control module and the second control module respectively obtain the digital output information of the robot movement, and perform safe actions when the two are inconsistent.
  • the digital output of the robot is not stopped, that is, the digital output is obtained when the robot is not stopped.
  • the first control module and the second control module respectively obtain the digital output of the robot not stopped, and perform safe actions when the two are inconsistent.
  • the robot includes a plurality of joints connected in sequence, the plurality of joints includes a head joint and an end joint, the head joint is connected to a base frame, and the end joint Connected to the execution end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and obtain at least one of the position and speed of the current joint according to the motor encoder, and the control module is used to determine When the first safety information and the second safety information of the same joint are inconsistent, the industrial robot is controlled to perform safe actions.
  • the attitude sensor can usually directly obtain the relative attitude of the output end of the previous joint of its component with respect to the joint itself.
  • the angle difference can be obtained, and then the attitude sensor can obtain the relative attitude.
  • the position and speed of the joints are at least one of them.
  • the attitude sensor is used to detect at least one of the position and speed of the previous joint.
  • the attitude sensor is set on the actuator, and the actuator is connected to the end joint of the robot.
  • the attitude sensor on the actuator is used to obtain the end joint of the robot. At least one of position and speed.
  • the attitude sensor detects at least one of the position and speed of the previous joint, and the fault between the attitude sensor and the previous joint can also be reflected by the detection result of the attitude sensor, so that when there is a fault between the attitude sensor and the previous joint
  • the robot will also perform safe actions because the first safety information and the second safety information are inconsistent.
  • the robot monitors safety more extensively, and the overall safety performance of the robot is better.
  • the robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, the end joint is connected to the execution end, and the The robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the control module is used to determine that the first safety information and the second safety information of the same joint are inconsistent, to control the industrial robot to perform a safe action .
  • the industrial robot has a first control module and a second control module to obtain the first safety information and the second safety information respectively, and uses independent sensors such as the attitude sensor 133 and the motor encoder 132, so that on the one hand
  • the detection of safety information is relatively independent, and the processing actions of the control module are relatively independent, so that the safety of industrial robots can be guaranteed.
  • the motor encoder 132 and the attitude sensor 133 can both be functionally multiplexed, thereby reducing the number of components of the industrial robot, reducing the manufacturing cost of the whole machine, and simplifying the composition of the industrial robot.
  • the present invention also provides a control method of an industrial robot. Referring to FIG. 4, the components of the industrial robot have been described above, and will not be repeated here.
  • the control method includes:
  • the attitude sensor detects at least one of the position and speed of the joint of the industrial robot 100;
  • the attitude sensor is set at the joint 130, or at the joint 130 and the execution end 140, the attitude sensor is used to detect the joint position and speed information of the joint before the joint where it is located, and the attitude sensor on the execution end is used to detect the execution end.
  • the execution end 140 includes an execution end.
  • the posture sensor 133 detects one of the position and the speed, and preferably, detects both the joint position and the speed.
  • the motor encoder detects at least one of the position and speed of the joints of the industrial robot
  • the motor encoder is provided on the joint transmission device 131, and is used to detect at least one of the position and speed of the joint of the industrial robot 100. Preferably, it detects both the position and speed of the joint.
  • the first control module obtains the first safety information
  • the first control module is electrically connected to the above-mentioned attitude sensor, and can obtain the information directly detected by the above-mentioned speed or acceleration, that is, at least one of the position and speed information of the joints, and the first control module can also obtain the information indirectly through the above-mentioned attitude sensor 133.
  • the information obtained includes information calculated based on the position and speed information of the joints.
  • the second control module is electrically connected to the motor encoder 132, and can obtain joint speed and position information that can be directly detected by the motor encoder, and the second safety information obtained by the second control module further includes: Information obtained indirectly from joint speed and position information, for example, information calculated from joint position and speed information.
  • control module compares the first safety information and the second safety information to be inconsistent, it controls the industrial robot 100 to perform a safe action.
  • the control method further includes the first control module calculating the torque information of the joint 130 according to the detection of the attitude sensor 133, and the first safety information includes the torque information. That is, the first safety information includes joint position and speed information detected by the attitude sensor 133, and joint torque information calculated by combining the position and speed information of the joint 130 with the mass distribution of the industrial robot 100, and the position, speed, Other information obtained by calculation based on torque information.
  • step S1 and S2 of the control method described above is not limited to one of performing S1 first and then S2, or performing S2 first and then S1.
  • steps S1 and S2 The execution sequence of step S2 includes the above two cases at the same time, and the execution sequence cannot be limited to only one of them.
  • the industrial robot includes a plurality of joints connected in sequence, the plurality of joints include a head joint and an end joint, the head joint is connected to the base frame, and the end joint is connected to the execution At the end, the robot is configured to obtain at least one of the position and speed of the previous joint according to the attitude sensor, and the method includes: when the first safety information and the second safety information of the same joint are inconsistent, controlling the industrial robot to execute Safe action.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot industriel ayant des performances de commande de sécurité améliorées, comprenant : un support de base (110) ; un bras mécanique ; des articulations (130), chacune de celles-ci reliant deux sections de bras mécanique adjacentes (121) ; un actionneur (140), dont une extrémité est reliée au bras mécanique et l'autre extrémité est conçue pour être reliée à un outil (200) ; des capteurs d'attitude (133), disposés sur les articulations, ou sur les articulations et l'actionneur ; des codeurs de moteur (132), dont chacun est disposé sur un dispositif de transmission (131) d'une articulation ; et des modules de commande, un premier module de commande et un deuxième module de commande parmi les modules de commande obtenant respectivement des premières informations de sécurité et des deuxièmes informations de sécurité, et lorsque les premières informations de sécurité et les deuxièmes informations de sécurité se révèlent incohérentes par comparaison, commandant le robot pour exécuter une action sûre. L'invention concerne également un procédé de commande pour le robot industriel. Le robot industriel présente une sécurité élevée et est peu coûteux.
PCT/CN2021/098849 2020-06-10 2021-06-08 Robot industriel ayant des performances de commande de sécurité améliorées, et son procédé de commande WO2021249379A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010522986.4 2020-06-10
CN202010522986.4A CN113771026A (zh) 2020-06-10 2020-06-10 一种提升安全控制性能的工业机器人及其控制方法
CN202021060878.1U CN212421307U (zh) 2020-06-10 2020-06-10 一种提升安全控制性能的工业机器人
CN202021060878.1 2020-06-10

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4219092A1 (fr) * 2022-01-28 2023-08-02 Kassow Robots ApS Architecture de sécurité optimisée dans un robot

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