Garrido, J.; Silva-Muñiz, D.; Riveiro, E.; Rivera-Andrade, J.; Sáez, J. Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application. Machines2024, 12, 91.
Garrido, J.; Silva-Muñiz, D.; Riveiro, E.; Rivera-Andrade, J.; Sáez, J. Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application. Machines 2024, 12, 91.
Garrido, J.; Silva-Muñiz, D.; Riveiro, E.; Rivera-Andrade, J.; Sáez, J. Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application. Machines2024, 12, 91.
Garrido, J.; Silva-Muñiz, D.; Riveiro, E.; Rivera-Andrade, J.; Sáez, J. Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application. Machines 2024, 12, 91.
Abstract
The human-centric approach is a leading trend for future production processes, and collaborative roboticists are key to its realization. This article addresses the challenge of designing a new cus-tom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard" safety and motion control technologies. This is done on a non-conventional Cable-Driven Parallel Robot (CDPR). Safety is assured by safe commands to individual axes, known as Safe Motion Monitoring Functionalities, which limits the axes speed in the event of human intrusion. At the same time, the robot's Motion Controller applies an override to the toolpath speed to accommodate the robot's path speed to the axis’s limitations. The implementation of a new Pre-Warning Zone, prevent unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
