Hi Friends,
I am planning to write a self safety programe. But I am having some doubt and I need your experiences ideas.
Subprogram : I am monitoring the torque in all the axes from t1....t6. By trial and error, i will take maximum torque for the project. If the my torque exits the maximum torque(+5%) then the robot should stop and must ask. "Is everything is OK?" .If opertor pres OK then it will continue.
my doubt is :
1. Is that the Torque will be different for different velocities. for eg in 30% velocity the Torque is n1...n6 and what will be the torque when velocity is in 100% at axis1....6. is the same as 30% n1----n6 or will it be different?
2. Is that this idea is OK, Will it work? or do you have some other idea. To avoid collision with environments.
Thank you