Siemens Aktiengesellschaft

Werner-Wilhelm Bleidorn

Norbert Krause

In a system for controlling the motion of an industrial robot, a resultant translational velocity of a preselected point on the robot is calculated from a plurality of velocity values such as actual velocity values detected by sensors or target velocity values computed from a velocity reference value. Upon the exceeding of a predetermined maximum velocity by the calculated resultant velocity, all robot motion is terminated. Robot motion may also be stopped upon detecting an excessive difference between an actual angular velocity of one robot component and a respective desired or target angular velocity of that robot component, upon detecting an excessive translational acceleration of a predetermined point on the robot, or upon detecting a position of the robot part or point located more than a predetermined distance from a reference position.

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Erlangen, Germany

Werner-Wilhelm Bleidorn