Traditionally, industrial robots are programmed by highly specialized workers that either directly write code in platform-specific languages, or use dedicated hardware (teach-pendant) to move the robot through the desired via-points. In the last years, new strategies to manually move the robot through the human input had been introduced. During the human-robot interaction, the most limitation of this kind of use of the robot is the velocity reduction of the machine. Taken into account the introduction of sensor-based walk-through programming approaches as the ideal solution to reduce programming complexity and time, this paper proposes a safety architecture for walk-through programming of industrial manipulators specifically designed in order to reach high velocities while guaranteeing the operator’s safety. The proposed solution is validated on an industrial manipulator.
High-Velocity Walk-Through Programming for Industrial Applications: A Safety-Oriented Approach / Di Napoli, S.; Bertuletti, M.; Gambazza, M.; Ragaglia, M.; Fantuzzi, C.; Ferraguti, F.. - 1:(2023), pp. 503-510. (Intervento presentato al convegno 20th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2023 tenutosi a ita nel 2023) [10.5220/0012250900003543].
High-Velocity Walk-Through Programming for Industrial Applications: A Safety-Oriented Approach
Bertuletti M.;Fantuzzi C.;Ferraguti F.
2023
Abstract
Traditionally, industrial robots are programmed by highly specialized workers that either directly write code in platform-specific languages, or use dedicated hardware (teach-pendant) to move the robot through the desired via-points. In the last years, new strategies to manually move the robot through the human input had been introduced. During the human-robot interaction, the most limitation of this kind of use of the robot is the velocity reduction of the machine. Taken into account the introduction of sensor-based walk-through programming approaches as the ideal solution to reduce programming complexity and time, this paper proposes a safety architecture for walk-through programming of industrial manipulators specifically designed in order to reach high velocities while guaranteeing the operator’s safety. The proposed solution is validated on an industrial manipulator.
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