# US 8,738,180 B2 · Robot control during an e-stop event > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,738,180 B2 - Document ID: US8738180B2 - Status: Granted - Kind: B2 - Application number: 13/325,140 - Filed: 2011-12-14 - Published: 2013-06-20 - Granted: 2014-05-27 - Earliest claimed: 2011-12-14 - Assignees: GM Global Technology Operations LLC - Applicants: Jianying Shi; David Groll; Peter W. Tavora - Inventors: Jianying Shi; David Groll; Peter W. Tavora - Web page: https://patentgrep.com/patent/US8738180B2 ## CPC - B25J 5/02: travelling along a guideway - B23P 21/008: {the assembling machines or tools moving synchronously with the units while these are being assembled} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - G05B 19/4182: {manipulators and conveyor only} - G05B 2219/39326: Model compensates positions as function of position to compensate force deformations - G05B 2219/40272: Manipulator on slide, track - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell. ## Claims ### Claim 1 A system for use in a work cell having a carrier that moves a product along an assembly line, the system comprising: an assembly robot having a robotic arm, a platform which transports the robotic arm, and a motor for moving the platform; a tracking sensor positioned with respect to the carrier that measures a changing position of the carrier and encodes the changing position as a position signal; and a controller in communication with the assembly robot and the tracking sensor; wherein the controller is configured to: receive the position signal from the tracking sensor; calculate a lag value of the assembly robot with respect to the carrier as a function of the position signal; detect a requested emergency stop (e-stop) event of the assembly robot when the arm and the product are in mutual contact; and selectively transmit a speed signal to the motor only when the calculated tracking position lag value is above a calibrated threshold, wherein the speed signal causes a calibrated deceleration of the platform to occur which minimizes contact forces between the robotic arm and the product during the e-stop event. ### Claim 2 (depends on 1) The system of claim 1, wherein the motor is positioned with respect to a rail adjacent to the assembly line, and wherein the speed signal causes a calibrated braking of the rail motor with respect to the rail. ### Claim 3 (depends on 1) The system of claim 1, wherein the tracking sensor includes an electro-optical tracking camera. ### Claim 4 (depends on 1) The system of claim 1, wherein the controller calculates an average speed of the conveyor as a function of the position signal, and moves the platform at the calculated average speed via the motor whenever the e-stop event is not requested. ### Claim 5 (depends on 4) The system of claim 4, wherein the controller calculates an instantaneous speed adjustment value for an end-effector of the robotic arm when the e-stop event is not requested, and transmits the calculated speed adjustment value to the end-effector to maintain a calibrated alignment between the end-effector and the product. ### Claim 6 (depends on 1) The system of claim 1, wherein the controller includes a modeling module that models forces on the product during the e-stop event, and that estimates contact forces on the product during the modeled e-stop event, and wherein the controller is configured to determine parameters of the speed signal using the estimated contact forces. ### Claim 7 (depends on 6) The system of claim 6, wherein the modeling module models the effect on static equilibrium of the product with respect to the carrier using the estimated contact forces. ### Claim 8 (depends on 6) The system of claim 6, wherein the modeling module models the effect on rotation of the product with respect to a pin of the carrier using the estimated contact forces. ### Claim 9 (depends on 6) The system of claim 6, wherein the modeling module models the effect on the structural integrity of contact with the product using the estimated contact forces. ### Claim 10 A method for use in a work cell having a carrier that moves a product along an assembly line, the method comprising: moving a robotic arm of an assembly robot on a moveable platform that is positioned adjacent to the carrier; measuring a changing position of the carrier using a tracking sensor; encoding the changing position as a position signal; transmitting the position signal to a controller; calculating a lag value of the assembly robot via the controller with respect to the carrier as a function of the position signal; detecting a requested emergency stop (e-stop) event of the assembly robot when the arm and the product are in mutual contact; and selectively transmitting a speed signal from the controller to a motor of the assembly robot only when the calculated tracking position lag value is above a calibrated threshold, wherein the speed signal causes a calibrated deceleration of the platform to occur via the motor, thereby minimizing contact forces between the robot arm and the product during the e-stop event. ### Claim 11 (depends on 10) The method of claim 10, wherein the platform is positioned with respect to a rail and is moveable on the rail using the motor, and wherein selectively transmitting a speed signal includes commanding a calibrated deceleration of the platform via a braking action of the motor with respect to the rail. ### Claim 12 (depends on 10) The method of claim 10, wherein the tracking sensor includes an electro-optical tracking camera, and wherein measuring a changing position of the carrier includes recording digital images of the product using the camera. ### Claim 13 (depends on 10) The method of claim 10, further comprising: calculating an average speed of the conveyor, via the controller, as a function of the position signal; and moving the platform at the calculated average speed via the controller whenever the e-stop event is not requested. ### Claim 14 (depends on 10) The method of claim 10, further comprising: calculating an instantaneous speed adjustment value for an end-effector of the robotic arm when the e-stop event is no longer requested; and transmitting the calculated speed adjustment value to the end-effector to maintain alignment between the end-effector and the product. ### Claim 15 (depends on 10) The method of claim 10, further comprising: modeling the e-stop event via the controller; estimating contact forces on the product during the modeled e-stop event; and determining parameters of the speed signal using the estimated contact forces. ### Claim 16 (depends on 10) The method of claim 10, further comprising using the controller to evaluate the effect on at least one of static equilibrium of the product with respect to the carrier, rotation of the product with respect to a pin of the carrier, and the structural integrity of the product using the estimated contact forces. ### Claim 17 A system for use in a work cell having a carrier that moves a product along an assembly line, the system comprising: an assembly robot having a robotic arm, a platform that transports the robotic arm, and a rail motor that propels the platform on a rail adjacent to the assembly line in a synchronous manner with respect to motion of the carrier; an electro-optical tracking camera positioned with respect to the carrier that electro-optically images the carrier as the carrier moves the product; and a controller in communication with the assembly robot and the camera; wherein the controller is configured to: receive a position signal from the tracking camera describing the changing position of the carrier; calculate an average speed of the carrier using the position signal; calculate a lag value of the platform with respect to the carrier using the position signal; detect a requested emergency stop (e-stop) event of the carrier when the arm and the vehicle component are in mutual contact; selectively transmit a first speed signal to the rail motor to cause a calibrated deceleration of the platform to occur only when the calculated tracking position lag value is above a calibrated threshold, thereby minimizing contact forces between the robot arm and the product during the e-stop event; and selectively transmit a second speed signal to the rail motor to move the platform at an average speed of the carrier when the calculated tracking position lag value is below the calibrated threshold. ### Claim 18 (depends on 17) The system of claim 17, wherein the controller calculates an instantaneous speed adjustment value for an end-effector of the robotic arm when the e-stop event is no longer requested, and transmits the calculated speed adjustment value to the end-effector to maintain a predetermined alignment between the end-effector and the product. ### Claim 19 (depends on 17) The system of claim 17, wherein the controller is configured to record a contact force, and to automatically calculate and evaluate the effect on at least one of static equilibrium of the product with respect to the carrier, rotation of the product with respect to the carrier, and structural integrity of the product, using the recorded contact forces.