公开(公告)号：US20240286287A1

公开(公告)日：2024-08-29

申请号：US18570932

申请日：2021-06-17

Applicant: ABB Schweiz AG

Inventor： Roger Mellander ,  Per Carlsson

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1674 ,  B25J9/0081 ,  B25J9/1602

Abstract: A robot system includes a first group of robot controllers, each including a safety change control unit and each being connected to at least one corresponding manipulator, where one robot controller is a proxy robot controller. The safety change control unit of the proxy receives a request to manually operate at least one joint of at least one of the manipulators via a first point of manual control at one of the robot controllers and forwards it to the others, each safety change control unit determines a response to the request and at least one safety change control unit receives the responses from the other safety change control units, investigates if the responses and request match and denies the request in case at least one response does not match the request.