An overhead system assists an operator in moving an object when the operator imparts a manual force to the object in a shared workspace characterized by overlapping ranges of motion of the robot and operator. The system includes an articulated serial robot, a cable, sensors, and a control system. One end of the cable connects to a distal end link of the robot. Another end of the cable connects to the object to suspend the object. The sensors measure a cable force and/or angle. The control system regulates operation of the robot by translating vertically and horizontally in response to the cable force and/or angle. The control system limits the position and/or velocity of the end link according to corresponding work space rules, including respective position and velocity limits, such that the system is immune to a single-point failure.


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    Title :

    OVERHEAD SYSTEM FOR OPERATOR-ROBOT TASK COLLABORATION


    Contributors:

    Publication date :

    2021-01-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B66C Krane , CRANES / B25J Manipulatoren , MANIPULATORS



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