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Reverse on collision to avoid getting trapped/crushed

  • Hello,


    I have set up a listener observer for collision detection using kiiwa's approach from this thread and it works great. When a collision is detected, the robot stops, and when the way is clear it continues it's movement.

    It would be even better though, if the robot would reverse the last few centimeters after the collision, so that the worker can not get trapped between the robot and an obstacle. As the robot is moving in different directions, I can't do that using move(linRel) on collision.


    Did anyone try this before?

    Thanks for your help!

  • Hi,


    I hoped this would be something many users have implemented already. How do you handle collisions between worker and roboter, where the worker could possibly get trapped? Impedance mode would be an option as well I guess?


    Best regards

  • Simply: use safety-rated interlocks to ensure no human can ever come within the robot's reach unless the robot is either de-powered, or is limited to a safe operation mode (either Collaborative mode, or restricted to Teach mode with the deadman enabler required).


    Allowing the robot to automatically move after a collision would violate RIA safety specs, since there's no way to sufficiently ensure that that movement wouldn't make things worse.

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