Function modules for safe workspace monitoring

Sigmatek

Inka Krischke, 04.03.2024, 08:47

Function modules for safe workspace monitoring

The 'Lasal SafetyDesigner' engineering tool from Sigmetek includes two new safety function blocks for workspace monitoring of serial kinematics, 'Denavit-Hartenberg (DH) Transformation' and 'Collision Detection'.

The 'DH transformation' module converts spatial input coordinates into spatial output coordinates. A multi-axis robot arm can be realized by using the module multiple times. The resulting coordinate system defines the TCP (Tool Center Point) of the robot. According to Sigmatek, 'Collision Detection' prevents a collision between the TCP of a robot and other objects in its working environment. The minimum and maximum XYZ coordinates define the workspace. They span a cuboid that is parallel to the coordinate system. This workspace is the area in which the TCP is allowed to move. In addition, an enveloping sphere is placed over the current position of the robot. Collision detection detects collisions by comparing the enveloping sphere with the defined workspace limits.

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