Method for the safety control, during direct teaching, of a robotised system and relative robotised system

A method for the safety control, during direct teaching, of a robotised system, the method comprising:

• a learning step, during which an operator (O) moves an end effector of a robot manipulator of the robotised system by means of a driving assembly and the movements made by the end effector are stored in a storage unit of the robotised system;
• wherein the robot manipulator comprises a plurality of links connected to one another through joints (J);
• wherein:
• during the learning step, a processing unit determines a relative distance (RD) between each link (L) of the robot manipulator and the operator (O) and controls whether the relative distance (RD) of the link (L) exceeds a predefined distance threshold value (TV);
• the predefined distance threshold value (TV) is equal to or greater than the distance covered by the robot manipulator in the amount of time needed to stop starting from a respective maximum linear speed (VMAX);
• in case the relative distance (RD) is smaller than the predefined distance threshold value (TV), the method entails stopping the robot.