KUKA robots are widely used in various automation scenarios for their high efficiency, precision and flexibility. However, in the actual operation process, various emergencies may be encountered, such as collision risks, equipment failures or operating errors. At this time, the robot needs to be able to withdraw to the initial position or the designated safe position in a timely and safe manner to avoid further losses or dangers.
In KUKA robot programming, the withdrawal strategy is crucial. First, define the initial position and the target withdrawal point. Use commands like “MOVE” to guide the robot’s movement. Incorporate sensors to detect obstacles during withdrawal. Set up safety margins to prevent collisions. Adjust speed and acceleration parameters for a smooth withdrawal. This ensures the robot can retreat safely and efficiently in various situations.
- Withdrawal strategy
After the operation program is compiled and tested in actual applications, another issue that needs to be considered is how the program responds when a fault occurs. The ideal state is of course that the system can respond automatically when a fault occurs, so a withdrawal strategy is adopted. The withdrawal strategy refers to the return movement performed by the robot when a fault occurs, such as to automatically return to the initial position, regardless of its current position. These return movements must be freely programmed by the programmer.
The withdrawal strategy is one of the key links to ensure the safe operation of the robot. When the robot detects an abnormal situation, it can quickly withdraw to a safe position, which can not only avoid potential collisions and damage, but also facilitate subsequent problem investigation and processing. In addition, a good retraction strategy can improve production efficiency and reduce losses caused by unexpected downtime. - Application scenarios
Retraction strategies are used in all situations where full automation is desired, including in the event of a failure and in the production room. With a correctly programmed retraction strategy, the operator may only need to decide what should happen in the subsequent process, thus avoiding manual operation in a dangerous situation.
- Retraction strategy programming
(1). Determine the retraction target position
First, the retraction target position needs to be clearly defined. This position can be the robot’s initial position, a designated safe area, or a safe position dynamically calculated based on the current environment and task. When selecting the target position, the following factors need to be considered:
Safety: The target position should be away from possible sources of danger, such as moving mechanical parts, high temperature areas, etc.
Accessibility: Ensure that the robot can reach the target position smoothly without being blocked by space restrictions or obstacles.
Identifiability: The target position should have obvious signs or features to facilitate accurate identification and positioning.
(2). Analyze the withdrawal path After determining the target position, the withdrawal path needs to be further analyzed. This includes evaluating potential obstacles, slopes, curvatures and other factors on the path to ensure that the robot can move safely and stably along the path. At the same time, it is also necessary to consider the robot’s kinematic constraints and dynamic characteristics to select the optimal movement mode and speed. (3). Formulate a withdrawal action sequence According to the requirements of the withdrawal path and target position, a detailed withdrawal action sequence is formulated. This includes how the robot’s joints move in coordination, how to control the speed and acceleration of movement, whether intermediate stops or obstacle avoidance are required, etc. When formulating the action sequence, the motion planning and control functions of the KUKA robot should be fully utilized to ensure the accuracy and stability of the action. When a fault occurs in different areas, different strategies are implemented. If a fault occurs in the red area, it will first run to point P2, then run to the yellow area safety point P1, and finally return to the initial position P0. By programming the KUKA robot to implement an effective withdrawal strategy, its safety and reliability can be greatly improved, providing a more solid guarantee for industrial production. In the future, with the continuous advancement of technology and the changing application requirements, the withdrawal strategy will also face more challenges and opportunities. We look forward to seeing more intelligent, efficient and safe withdrawal strategies being widely used in KUKA robots.