Patent Description:
Recently, collaborative robots that can work in the same space as humans have emerged. The collaborative robot refers to a robot that works nearby humans, and is manufactured to be smaller and operate more slowly for human safety than a conventional industrial robot.

The reason why the collaborative robots are used instead of the existing expensive general industrial robots is because the collaborative robot does not require a large space due to no need of a fence for safety, has a program to which anyone can easily make some changes through programming, and is specialized for working with humans due to its safety stop function based on collision detection.

However, it is necessary to determine whether an external force generated during the actuation of the collaborative robot is caused by a collision or a dynamic characteristic, but it is difficult to clearly distinguish between the external force caused by the collision and the external force caused by the dynamic characteristic. Therefore, a malfunction has conventionally occurred as if a collision is detected even though there are no collisions.

In addition, the collaborative robot may have to sensitively respond to a collision according to its work environments. On the other hand, there is also a work environment in which the collaborative robot needs to have low sensitivity to a collision because an excessively sensitive response delays work.

However, there is a great variety of work environments in which the collaborative robot is installed, and it takes a considerable amount of time for even a professional engineer to adjust the collision sensitivity of the collaborative robot. Therefore, even for professional collaborative-robot manufacturing or installing companies, it is not easy to set the sensitivity of the collaborative robot according to the work environments.

<CIT> discloses a controller which is configured to operate a robot arm at a speed that is equal to or lower than a first maximum speed in a high-speed operation region, and operate the robot arm at a speed that is equal to or lower than a second maximum speed lower than the first maximum speed in a low-speed operation region, and change a collision detection sensitivity between the high-speed operation region and the low-speed operation region so that the collision detection sensitivity in the high-speed operation region becomes lower than the collision detection sensitivity in the low-speed operation region. Further, from <CIT>, a system is known which includes a motor driving structure which comprises a threshold setting member, a supplying member, and a recognizing member. The threshold setting member calculates disturbance value applies to a driven member and sets the threshold in which the driven member collides with external world by comparing with the disturbance value. The supplying member supplies the user interface to sequentially set a sensitivity level for scanning the collision by users of the motor driving structure before the threshold is set by the threshold setting member. The recognizing member recognizes the setting of the gradational sensitivity level of the users performed by the user interface in which is supplied by the supplying member. The threshold setting member determines the threshold based on the setting of the gradational sensitivity level recognized by the recognizing member and sets the same as the threshold compared with the disturbance value.

An aspect of the disclosure is to provide a method of automatically setting collision sensitivity of a collaborative robot, by which it is easy and convenient to automatically set the collision sensitivity suitable for a work environment of the collaborative robot.

The aspects of the disclosure are not limited to the foregoing aspect, and other aspects not mentioned above will become apparent to those skilled in the art from the following descriptions.

Embodiments of the invention are described in the dependent claims.

The calculating the collision threshold value includes: calculating an average value of the obtained torque-related data according to sections; selecting a maximum value among the average values of the sections; and calculating the collision threshold value based on the selected maximum value.

The torque-related data may include a current value to be applied to an actuator provided in each joint of the collaborative robot and actuating the collaborative robot.

The torque-related data may include data measured by a torque sensor that measures torque exerted on each joint of the collaborative robot.

The method further includes selecting a collision sensitivity level, wherein the calculating the collision threshold value includes calculating the collision threshold value based on the selected collision sensitivity level and the obtained torque-related data.

The collision threshold value may be calculated in proportion to the selected collision sensitivity level.

The actuating the collaborative robot includes repetitively actuating the collaborative robot at different speed levels, the obtaining the torque-related data may include obtaining the torque-related data according to speed levels, and the calculating the collision threshold value may include calculating a function for calculating the collision threshold value by using the speed level as a variable based on the torque-related data obtained according to the speed levels.

The method may further include displaying a parameter of the calculated function on a screen.

The method may further include selecting one of a plurality of programs that cause the collaborative robot to be actuated in different actions, wherein the actuating the collaborative robot includes actuating the collaborative robot based on a program selected among the plurality of programs.

The collision threshold value may be calculated individually for each joint of the collaborative robot.

Other details of the disclosure are included in the detailed description and the accompanying drawings.

According to embodiments of the disclosure, effects are at least as follows.

It is easy and convenient to automatically set collision sensitivity suitable for a work environment of a collaborative robot.

The effects according to the disclosure are not limited to the foregoing example, and more various effects are involved in the present specification.

The merits and characteristics of the invention and a method for achieving the merits and characteristics will become more apparent from the embodiments described in detail in conjunction with the accompanying drawings. However, the invention is not limited to the disclosed embodiments, but may be implemented in various different ways. The embodiments are provided to only complete the disclosure and to allow those skilled in the art to understand the invention.

Further, embodiments of the disclosure will be described with reference to cross-sectional views and/or schematic views as idealized exemplary illustrations. Therefore, the illustrations may be varied in shape depending on manufacturing techniques, tolerance, and/or etc. Further, elements in the drawings may be relatively enlarged or reduced for convenience of description.

Below, the disclosure will be described with reference to the accompanying drawings of illustrating as system for automatically setting collision sensitivity of a collaborative robot and a method of automatically setting the collision sensitivity of the collaborative robot according to the disclosure.

<FIG> is a perspective view showing a multiple-degrees-of-freedom (MDOF) collaborative robot.

A collaborative robot <NUM> includes a plurality of joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> to carry out MDOF motion. <FIG> illustrates the collaborative robot <NUM> using six joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> to have six degrees of freedom as an example of the MDOF collaborative robot.

A first joint <NUM> is pivotally coupled to an upper portion of a base <NUM>, and pivots on a Z axis (in a vertical direction in <FIG>). The first joint <NUM> includes a first end side (i.e., a side facing the base <NUM>) and a second end side (i.e., a side facing a second joint <NUM>), which are on planes perpendicular to each other.

A second joint <NUM> is pivotally coupled to a second end portion of the first joint <NUM>. Because the first end side and the second end side of the first joint <NUM> are on the planes perpendicular to each other, the second joint <NUM> pivots on an axis perpendicular to the pivot axis of the first joint <NUM>. The second joint <NUM> include a first end side (i.e., a side facing the first joint <NUM>) and a second end side (i.e., a side facing the third joint <NUM>), which are on planes parallel to or aligned with each other.

A third joint <NUM> is pivotally coupled to a second end portion of the second joint <NUM>. Because the first end side and the second end side of the second joint <NUM> are on the planes parallel to or aligned with each other, the third joint <NUM> pivots on an axis parallel to the pivot axis of the second joint <NUM>. The third joint <NUM> includes a first end side (i.e., a side facing the second joint <NUM>) and a second end side (i.e., a side facing the fourth joint <NUM>), which are on planes perpendicular to each other.

A fourth joint <NUM> is pivotally coupled to a second end portion of the third joint <NUM>. Because the first end side and the second end side of the third joint <NUM> are on the planes perpendicular to each other, the fourth joint <NUM> pivots on an axis perpendicular to the pivot axis of the third joint <NUM>. The fourth joint <NUM> includes a first end side (i.e., a side facing the third joint <NUM>) and a second end side (i.e., a side facing the fifth joint <NUM>), which are on planes perpendicular to each other.

A fifth joint <NUM> is pivotally coupled to a second end portion of the fourth joint <NUM>. Because the first end side and the second end side of the fourth joint <NUM> are on the planes perpendicular to each other, the fifth joint <NUM> pivots on an axis perpendicular to the pivot axis of the fourth joint <NUM>. The fifth joint <NUM> includes a first end side (i.e., a side facing the fourth joint <NUM>) and a second end side (i.e., a side facing the sixth joint <NUM>), which are on planes perpendicular to each other.

A sixth joint <NUM> is pivotally coupled to a second end portion of the fifth joint <NUM>. Because the first end side and the second end side of the fifth joint <NUM> are on the planes perpendicular to each other, the sixth joint <NUM> pivots on an axis perpendicular to the pivot axis of the fifth joint <NUM>. The fifth joint <NUM> includes a first end side (i.e., a side facing the fourth joint <NUM>) and a second end side which are on planes parallel to each other.

The second end portion of the sixth joint <NUM> is mounted with an end tool (not shown). There are various kinds of end tools according to work or the like to be performed by the collaborative robot <NUM>, and the second end portion of the sixth joint <NUM> is mountable with various replaceable end tools.

The joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> are provided with and turned by actuators (not shown), respectively.

Unlike a conventional industrial robot that operates in a space separated from a worker by a fence or the like, the collaborative robot <NUM> operates sharing a work space with a worker. Accordingly, in preparation for possibility of a collision with a worker, the collaborative robot <NUM> is designed to operate at a speed not to inflict injury upon the worker even though the collision with the worker occurs during the actuation, and to detect a collision with the worker and immediately stop the actuation.

<FIG> is a block diagram schematically showing a system for automatically setting collision sensitivity of a collaborative robot according to a first embodiment of the disclosure, and <FIG> is a block diagram schematically showing a configuration of a collision-sensitivity setting unit of <FIG>.

As shown in <FIG>, a system <NUM> for automatically setting collision sensitivity of a collaborative robot according to the first embodiment of the disclosure includes a collaborative robot <NUM>, a collision-sensitivity setting unit <NUM>, and a display <NUM>. The display <NUM> refers to a device for visually displaying information, and may include a dedicated terminal, a smartphone, a tablet, a computer, etc..

In the system <NUM> for automatically setting collision sensitivity of a collaborative robot according to the first embodiment of the disclosure, the collision-sensitivity setting unit <NUM> may be configured to have a function of setting the collision sensitivity in addition to a general function of a robot controller for controlling the collaborative robot <NUM>.

As shown in <FIG>, the collision-sensitivity setting unit <NUM> includes a plurality of programs <NUM>, <NUM> and <NUM>, a communicator <NUM>, a controller <NUM>, a data collector <NUM>, and an operator <NUM>.

The plurality of programs <NUM>, <NUM> and <NUM> refers to instructions for performing a specific action of the collaborative robot <NUM>, and the plurality of programs <NUM>, <NUM> and <NUM> may previously be stored in the collision-sensitivity setting unit <NUM> according to actions to be performed by the collaborative robot <NUM>.

For example, a first program <NUM> may be a program for making the collaborative robot <NUM> to carry out a pick-and-place action, and a second program <NUM> may be a program for making the collaborative robot <NUM> to carry out a bolt-fastening action. Besides, the programs <NUM>, <NUM> and <NUM> for various actions, for example, welding, polishing, packaging, assembling, molding, testing, computerized numerical control (CNC) and the like actions to be realizable by the collaborative robot <NUM> may be stored in the collision-sensitivity setting unit <NUM>.

The communicator <NUM> is configured to manage communication between the collision-sensitivity setting unit <NUM> and the collaborative robot <NUM> and communication between the collision-sensitivity setting unit <NUM> and the display <NUM>.

The communicator <NUM> transmits a control instruction based on a program selected among the plurality of programs <NUM>, <NUM> and <NUM> to the collaborative robot <NUM>, and receives control results of the control instruction from the collaborative robot <NUM> and torque-related data from the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM>.

The torque-related data may be a current value to be applied to the actuator for actuating each of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM>. The current value to be applied to the actuator is in proportion to torque needed for actuating the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>, and therefore the current value to be applied to the actuator is used as the torque-related data for estimating the torque exerted on the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>.

When the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> are respectively provided with torque sensors, the torque-related data is based on measurement values of the torque sensors.

The communicator <NUM> provides an option selection user interface (UI) (to be described later) to the display <NUM>, and transmits a calculated collision threshold value, a collision threshold function or the parameter (a constant value) of the collision threshold function.

The controller <NUM> is configured to control the actuation of the collaborative robot <NUM> based on the program selected among the plurality of programs <NUM>, <NUM> and <NUM>. The controller <NUM> may be configured to realize a robot model-based high-speed real-time control having a control frequency of <NUM> based on Ethernet communication.

The controller <NUM> may improve the actuating precision of the collaborative robot <NUM> through real-time robust position control. For example, the controller <NUM> may control the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> based on combination of feedforward and robot state variable-based feedback control.

The data collector <NUM> is configured to collect the torque-related data related to torque exerted on the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> while the collaborative robot <NUM> is operating.

The operator <NUM> is configured to calculate the collision threshold value or the collision threshold function about the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> based on the torque-related data collected by the data collector <NUM>. In this regard, details will be described later.

<FIG> is a block diagram schematically showing a system for automatically setting collision sensitivity of a collaborative robot according to a second embodiment of the disclosure, <FIG> is a block diagram schematically showing a configuration of a robot controller of <FIG>, and <FIG> is a block diagram schematically showing a configuration of a collision-sensitivity setting unit of <FIG>.

As shown in <FIG>, a system <NUM> for automatically setting collision sensitivity of a collaborative robot according to the second embodiment of the disclosure includes a collaborative robot <NUM>, a robot controller <NUM>, a collision-sensitivity setting unit <NUM> and a display <NUM>.

In the system <NUM> for automatically setting collision sensitivity of a collaborative robot according to the second embodiment of the disclosure, the collision-sensitivity setting unit <NUM> is used as connected to a general robot controller <NUM> for controlling the collaborative robot <NUM>. Therefore, the system <NUM> may be used for the collaborative robot <NUM> to be controlled by the general robot controller <NUM> having no functions of automatically setting the collision sensitivity.

As shown in <FIG>, the robot controller <NUM> includes a plurality of programs <NUM>, <NUM> and <NUM>, a communicator <NUM>, and a controller <NUM>.

The plurality of programs <NUM>, <NUM> and <NUM> refers to instructions for performing a specific action of the collaborative robot <NUM> as described above, and repetitive descriptions thereof will be avoided.

The communicator <NUM> is configured to manage communication between the robot controller <NUM> and the collaborative robot <NUM> and communication between the robot controller <NUM> and the collision-sensitivity setting unit <NUM>.

The communicator <NUM> transmits a control instruction based on a program selected among the plurality of programs <NUM>, <NUM> and <NUM> to the collaborative robot <NUM>, and receives control results of the control instruction from the collaborative robot <NUM>. Further, the communicator <NUM> receives torque-related data from the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> and transmits the torque-related data to the collision-sensitivity setting unit <NUM>.

The controller <NUM> is configured to control the actuation of the collaborative robot <NUM> based on the program selected among the plurality of programs <NUM>, <NUM> and <NUM>.

As shown in <FIG>, the collision-sensitivity setting unit <NUM> includes a communicator <NUM>, a data collector <NUM>, and an operator <NUM>.

The communicator <NUM> is configured to manage communication between the robot controller <NUM> and the collision-sensitivity setting unit <NUM> and communication between the collision-sensitivity setting unit <NUM> and the display <NUM>.

The communicator <NUM> receives the torque-related data about the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> from the robot controller <NUM>.

The data collector <NUM> and the operator <NUM> are the same as those described above, and thus repetitive descriptions thereof will be avoided.

Below, a method of automatically setting collision sensitivity of a collaborative robot according to the disclosure will be described.

For convenience of description, the description will be made with reference to the system <NUM> for automatically setting the collision sensitivity of the collaborative robot according to the first embodiment of the disclosure.

<FIG> is a flowchart for describing a method of automatically setting collision sensitivity of a collaborative robot according to the disclosure, <FIG> is a graph showing torque-related data obtained in step S15 of <FIG>, <FIG> is a diagram for describing a method of selecting a maximum value in torque-related data obtained at a first speed level in step S16 of <FIG>, <FIG> is a diagram for describing a method of selecting a maximum value in torque-related data obtained at a second speed level in step S16 of <FIG>, and <FIG> is a diagram for describing a collision threshold function calculated in S16 of <FIG>.

As shown in <FIG>, he method of automatically setting the collision sensitivity of the collaborative robot according to the disclosure includes the steps of providing an option selection UI (S11), selecting a program (S12), selecting collision sensitivity (S13), actuating the collaborative robot (S14), obtaining the torque-related data (S15), calculating the collision threshold value (S16), and displaying calculation results (S17).

In the step S11 of providing the option selection UI, the collision-sensitivity setting unit <NUM> may make the display <NUM> to display a UI through which at least one option is selectable for automatically setting the collision sensitivity.

The option selection UI may provide a UI through which a program for actuating the collaborative robot <NUM> is selectable, and a collision sensitivity level is selectable. In addition, a user may select a precision level or a calculation area through the option selection UI.

The precision level may be used as a factor for determining a level of difference between the collision threshold value and the maximum value of the torque-related data when the collision threshold value (to be described later) is calculated. For example, the lower the precision level selected by a user, the greater the difference between the collision threshold value and the maximum value of the torque-related data. The higher the precision level selected by a user, the smaller the difference between the collision threshold value and the maximum value of the torque-related data.

The calculation area is to select which one of a joint space, a work space and the joint and work spaces will be used as reference in calculating the moving paths of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM>.

In case of the joint space, the turning angles of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> are calculated with respect to the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> when an end portion of the terminal joint, i.e., the sixth joint <NUM> of the collaborative robot moves from a first point to a second point. Therefore, the moving path may include a curve when the end portion of the sixth joint <NUM> moves from the first point to the second point.

On the other hand, in case of the work space, the turning angles of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> are calculated so that the end portion of the sixth joint <NUM> moves the shortest distance connecting the first point and the second point when the end portion of the terminal joint, i.e., the sixth joint <NUM> of the collaborative robot moves from the first point to the second point.

The joint and work spaces are based on combination of the calculation of the joint space and the calculation of the work space.

In the step S12 of selecting the program, a user selects the program corresponding to the actuation of the collaborative robot <NUM>, of which collision detecting sensitivity is desired to be set, among the plurality of programs <NUM>, <NUM> and <NUM> through the option selection UI displayed on the display <NUM>.

For example, when the collaborative robot <NUM> is used in working for a pick-and-place action and it is desired to set the sensitivity of the collaborative robot <NUM> to a collision during the pick-and-place action, a user selects the program <NUM> corresponding to the pick-and-place action among the plurality of programs <NUM>, <NUM> and <NUM> in a program selection option of the UI.

In the step S13 of selecting the collision sensitivity, a user selects the collision sensitivity level in the option selection UI displayed on the display <NUM>.

The collision sensitivity level selectable by a user in the option selection UI may include a plurality of levels, and a user may select a desired level among the plurality of levels.

For example, the option selection UI may provide five collision sensitivity levels (very sensitive, sensitive, moderate, insensitive, and very insensitive), and a user may select the collision sensitivity level in consideration of the work environment or the like of the collaborative robot <NUM>.

For example, when a user selects 'very sensitive' among the collision sensitivity levels, the collision threshold value may be set to discontinue the actuation of the collaborative robot <NUM> even through a very weak collision or external force is exerted during the actuation of the collaborative robot <NUM>. When a user selects 'very insensitive' among the collision sensitivity levels, the collision threshold value may be set to continue the actuation of the collaborative robot <NUM> if a very strong collision or external force is not exerted during the actuation of the collaborative robot <NUM>.

Further, a user may select the options about the precision level and the calculation area as necessary in the foregoing option selection UI.

When a user sets the precision level low, the collision threshold value is higher than that of when the precision level is set high, and thus set to discontinue the actuation of the collaborative robot <NUM> when a relatively strong collision with the collaborative robot <NUM> is made.

According to which one of the joint space, the work space, and the joint and work spaces selected for the calculation area by a user, the collaborative robot <NUM> operates based on the calculation area selected by the user.

In the step S14 of actuating the collaborative robot, the controller <NUM> controls the collaborative robot <NUM> based on the program selected by a user in the step S12. When a user selects the calculation area in the option selection UI, the controller <NUM> may control the collaborative robot <NUM> as limited within the selected calculation area.

Further, the controller <NUM> may repetitively control the collaborative robot <NUM> so that the collaborative robot <NUM> can perform the action corresponding to the selected program at different speed levels. The controller <NUM> controls the collaborative robot <NUM> to repeat the action corresponding to the program and gradually increase the speed of the action. For example, the controller <NUM> may repetitively control the collaborative robot <NUM> at first to tenth speed levels.

In the step S15 of obtaining the torque-related data, the collaborative robot <NUM> transmits the torque-related data generated in the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM> during the actuation to the collision-sensitivity setting unit <NUM>, and the data collector <NUM> of the collision-sensitivity setting unit <NUM> collects the torque-related data.

The torque-related data may include current values to be applied to the actuators for actuating the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> of the collaborative robot <NUM>, or torque measured by the torque sensor for measuring the torque exerted on the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>.

As shown in <FIG>, the torque-related data T is continuously collected while the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> are operating.

Referring to <FIG>, the data collector <NUM> may collect the torque-related data T as divided into a plurality of sections A, B, C and D while the collaborative robot <NUM> completes one action.

Although <FIG> shows an example of performing the collection by dividing time taken for the collaborative robot <NUM> to complete an action corresponding to one program into four sections A, B, C and D, the time may be divided into four or more sections or four or less sections according to embodiments.

Further, although <FIG> shows an example of collecting four pieces of torque-related data T in one section, four or more pieces of torque-related data T may be collected according to embodiments.

In addition, although <FIG> shows an example of setting sections by dividing the time taken for the collaborative robot <NUM> to complete the action corresponding to one program into a plurality of sections. In embodiments not falling within the scope of the claims, the sections may be divided based on not the time but the number of collected pieces of the torque-related data or motion units performed in one actuation.

Meanwhile, when the controller <NUM> controls the collaborative robot <NUM> to repetitively perform the action at different speed levels, the data collector <NUM> may classify the collected torque-related data according to the speed levels, as shown in <FIG> and <FIG>.

In the step S16 of calculating the collision threshold value, the operator <NUM> calculates the collision threshold value based on the torque-related data collected by the data collector <NUM>.

As shown in <FIG>, the operator <NUM> calculates average values of the torque-related data of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> according to the sections, and selects the maximum value among the calculated average values according to the sections.

For example, when the first joint <NUM> has an average value of Tavg<NUM>-<NUM> of the torque-related data in a first section A, an average value of Tavg<NUM>-<NUM> of the torque-related data in a second section B, an average value of Tavg<NUM>-<NUM> of the torque-related data in a third section C, and an average value of Tavg<NUM>-<NUM> of the torque-related data in a fourth section D, and the maximum value among them is the average value Tavg<NUM>-<NUM>, the average value of Tavg<NUM>-<NUM> of the torque-related data in the third section C is selected as data related to the maximum torque exerted on the first joint <NUM> in the action corresponding to the program selected in the step S12.

In a similar manner, data related to the maximum torque exerted in the action corresponding to the program selected in the step S12 is selected with regard to the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>.

When the controller <NUM> actuates the collaborative robot <NUM> at one speed level in the step S14, the operator <NUM> calculates the collision threshold value with a numerical value higher than the maximum torque-related data selected by applying a factor, which is linearly or nonlinearly proportional to the collision sensitivity selected by a user in the step S14, to the maximum torque-related data selected with regard to the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>.

For example, when the option selection UI provides five selectable collision sensitivity levels (very sensitive, sensitive, moderate, insensitive, and very insensitive), the factor added to or multiplied by the maximum torque-related data according to the levels is increased in order of very sensitive, sensitive, moderate, insensitive, and very insensitive. The factor may be a constant or may be a function varied depending on a variable.

Further, when the precision level is selectable in the option selection UI, the factor added to or multiplied by the maximum torque-related data is varied depending on the precision levels.

For example, when three precision levels of low, medium and high are given, the factor added to or multiplied by the maximum torque-related data according to the levels is decreased in order of low, medium and high. The factor may be a constant or may be a function varied depending on a variable. The factor for the precision level may be different from the factor for the collision sensitivity level.

Meanwhile, when the controller <NUM> actuates the collaborative robot <NUM> at a plurality of speed levels in the step S14, as shown in <FIG> and <FIG> the operator <NUM> calculates the averages value of the torque-related data of each of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> according to the speed levels in each section, and selects the maximum value among the calculated average values according to the sections as the maximum torque-related data.

Further, the operator <NUM> calculates the collision threshold value by applying a factor to the maximum torque-related data of the joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM> according to the speed levels, and derives a function of the collision threshold values according to the speed levels.

For example, the function of the maximum torque-related data at the first speed level, the maximum torque-related data at the second speed level,. , the maximum torque-related data at the Nth speed level of the first joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>, i.e., the collision threshold function is derived.

The collision threshold function may be a linear function or a quadratic or higher nonlinear function.

For example, when the collision threshold function is given as the linear function, the collision threshold function may be defined as follows. <MAT>
where, f(x) is the collision threshold function, s is the collision sensitivity level, and x is the speed level.

<FIG> is a graph of the collision threshold function defined as the linear function.

The operator <NUM> calculates the collision threshold value of each joint according to the speed levels, and derives the parameters of the collision threshold function (f(x)) from the calculated collision threshold values.

In the step S17 of displaying the calculation results, the communicator <NUM> transmits the collision threshold value and/or the parameters a and b of the collision threshold function (f(x)) calculated in the step S16 to the display <NUM>, so that the display <NUM> can display the collision threshold value and/or the parameters a and b of the collision threshold function (f(x)) as the calculation results of the operator <NUM> on the screen thereof.

The collision-sensitivity setting unit <NUM> updates the controller <NUM> with the calculated collision threshold value and/or collision threshold function (f(x)). Then, it is determined that a collision occurs when external force stronger than the updated collision threshold value and/or collision threshold function (f(x)) is exerted during the actuation of the collaborative robot <NUM>, and the actuation of the collaborative robot <NUM> is stopped.

As described above, by the system for automatically setting the collision sensitivity of the collaborative robot and the method of automatically setting the collision sensitivity of the collaborative robot according to the disclosure, a user only needs to select an option (the program, the collision sensitivity, the precision, and the calculation area) suitable for the work environment in which the collaborative robot <NUM> is used, and the collision-sensitivity setting unit <NUM> automatically controls the collaborative robot <NUM> and controls the data to automatically calculate and apply the collision threshold value and/or the collision threshold function suitable for the selected option, so that even a user unprofessional at the collaborative robot <NUM> can easily adjust the collision sensitivity of the collaborative robot <NUM> according to conditions of a work site.

Claim 1:
A method of automatically setting collision sensitivity of a collaborative robot (<NUM>) by a collision-sensitivity setting unit (<NUM>) the method comprising:
receiving a collision sensitivity level selected by a user;
actuating the collaborative robot (<NUM>);
obtaining torque-related data related to torque exerted on joints of the collaborative robot (<NUM>) during actuation of the collaborative robot (<NUM>); and
calculating a collision threshold value
wherein
calculating the collision threshold value comprises calculating the collision threshold value based on the selected collision sensitivity level and the obtained torque-related data, by calculating an average value of the obtained torque-related data for each joint according to sections set by dividing of time, selecting a maximum value among the average values of the sections, and calculating the collision threshold value using the selected maximum value;
actuating the collaborative robot (<NUM>) comprises repetitively actuating the collaborative robot (<NUM>) at different speed levels;
obtaining the torque-related data comprises obtaining the torque-related data according to speed levels; and
calculating the collision threshold value comprises calculating a function for calculating the collision threshold value by using the speed level as a variable, wherein the torque-related data are obtained according to the speed levels.