ROBOT BROS REDDIT FULL
ROBOT BROS REDDIT ISO

This is done by comprehensively sampling the space of possible joint values and marking the space occupied by the robotвЂ™s links at these joint value samples. The range of joint values needs to be converted to a 3D space. The result of all this is a range of robot joint values that are attainable before the robot comes to a stop. Veo FreeMove В®) to issue a PSD violation signal and the time it takes the robot controller to acknowledge such a signal. The range of motion attributable to this pre-stop time window is calculated using the robotвЂ™s pose, the robotвЂ™s current load, the robotвЂ™s current velocity, a description of the robot dynamics and kinematics, any controller-enforced limits on robot joint velocity, and a bound on the time it takes for the sensing system (e.g. We calculate the RFC to include a window of time before a PSD violation where the robot will continue to move through its planned trajectory, which may involve acceleration or deceleration.

ROBOT BROS REDDIT ISO

R from the PSD calculation are not called out explicitly in the MDH calculation, but since they are constants, we can consider them subsumed as part of the intrusion distance C.Д«ut the robot is moving, so how do we вЂњmapвЂќ it to the stationary machinery of ISO 13855? The way to do this is to introduce a Robot Future Cloud (RFC), which is all the space the robot could occupy by the time we have detected a PSD violation. R terms are effectively zero in the MDH calculation because it assumes that the hazard itself does not move. H, the contribution attributable to the humanвЂ™s change in location, and the intrusion distance C corresponds identically to its counterpart in the PSD equation. The MDH calculation consists of two terms, which correspond to terms in the equation for the PSD calculation when safeguarding with SSM.ДЇirst the K x T term in the MDH calculation corresponds directly to S If we generalize the above equation to make the robot the вЂњhazardous machineryвЂќ, we see a correspondence between the MDH and PSD equations. LetвЂ™s call this distance S the Minimum Distance to Hazard, or MDH. T is the overall system stopping performance in seconds

K is a parameter, in mm/sec, derived from data on approach speeds of the body or parts of the body In our previous post we discussed at length the Protective Separation Distance (PSD), which is defined by ISO 10218-1 as Now, we go into the weeds, if youвЂ™re still with us, dear reader. Protective Separation Distance and Minimum Distance to Hazard If youвЂ™d like to know for your specific robot what these distances are (and hence how collaborative it is) give us a shout here at Veo ( or and weвЂ™ll gladly run the numbers for you. And, practically, for a robot with a 2+ meter reach and moving at high speed, having to be a meter away from it is not an unreasonable request! These numbers, of course, vary by robot payload, reach, and speed (see Figure 2 and Figure 3 for a collection of our data), but in general, larger robots are as collaborative as small ones under this metric. Conversely, the closest the human can approach before the robot is required to slow down or stop is about 1m.

ROBOT BROS REDDIT FULL

This post will dive into the nitty-gritty on how we estimate this minimum safe human-robot distance, but if youвЂ™re pressed for time, the punchline is this: Based on manufacturer-provided stopping time and distance data (and under some very conservative assumptions), as long as the human is roughly 1.5 meters away from the robot, the robot can operate unimpeded at full speed.

It also has economic benefits, such as lower cycle time (as the robot runs faster for a longer part of the cycle) and reduced workcell area. This has an intuitive logic: having the robot wait for a closer human approach before safely slowing makes the robot more вЂњresponsiveвЂќ to human interaction. A point we have made before was that the closer the human could come to the robot before it needed to stop, the more collaborative we could make the application ( and guarding could help with that).

So, if you are using SSM, is there a metric of how collaborative is your application? Well, it depends on how collaborative your robot is.

Robot bros reddit