Policy-restricted execution of a robot program with movement instructions
AssigneeABB Schweiz AG
InventorsRoger Mellander, Roger Dahlgren
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Abstract
A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained, and it is determined, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies a policy which restricts execution of the program.
Claims20
A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions, the method comprising:
- obtaining identification information related to a robot installation;
- determining, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is nonverified with respect to the robot installation, wherein the location is a pose, a path and/or a modulated path;
- and
- applying, in response to a positive determination, a policy which restricts execution of the program:
- wherein said determining step includes:
- comparing locations to which the movement instructions relate against a collection of verified locations of the robot manipulator, and
- finding the non-verified location by attempting to match the locations against the collection of verified locations.
A processor, such as a robot controller, comprising memory and processing circuitry configured to perform steps of a method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions, including:
- obtaining, identification information related to a robot installation;
- determining, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is nonverified with respect to the robot installation, wherein the location is a pose, a path and/or a modulated path;
- and
- applying, in response to a positive determination, a policy which restricts execution of the program:
- wherein said determining step includes
- comparing locations to which the movement instructions relate, against a collection of verified locations of the robot manipulator, and
- finding the non-verified location by attempting to match the locations against the collection of verified locations.
A computer program comprising instructions to cause a programmable processor to execute steps of a method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions, including:
- obtaining, identification information related to a robot installation;
- determining, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is nonverified with respect to the robot installation, wherein the location is a pose, a path and/or a modulated path;
- and
- applying, in response to a positive determination, a policy which restricts execution of the program,
- wherein said determining step includes:
- comparing locations to which the movement instructions relate, against a collection of verified locations of the robot manipulator, and
- finding the non-verified location by attempting to match the locations against the collection of verified locations.
Dependencies are inferred from the claim text.