Methodology for Implementing Some of Collaborative Functions on an Industrial Robot

摘要

The work is devoted to the implementation of some functions inherent in collaborative robots on industrial robotic manipulators. An analysis of possible collaborative functions was conducted, their basic operating principles were identified. For the identified functions, the options for their technical implementation were analyzed (use of purely algorithmic solutions, use of external devices and systems, etc.). For the described options, functional diagrams were developed, in accordance with which the robot control system should be modernized to implement each of the functions. Further, for each function, algorithms were developed to ensure its implementation as part of the control system of the robotic complex. A methodology for implementing collaborative functions was developed using the proposed technical and algorithmic solutions.