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.
OVERHEAD SYSTEM FOR OPERATOR-ROBOT TASK COLLABORATION
2021-01-21
Patent
Electronic Resource
English
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