METHOD FOR REDUCING MEASUREMENT FAULTS DURING OPERATION OF A COLLABORATING INDUSTRIAL ROBOT HAVING RADAR-BASED COLLISION DETECTION AND INDUSTRIAL ROBOT FOR CARRYING OUT SAID METHOD

摘要

The invention relates to a method for reducing measurement faults during operation of an industrial robot (1) having radar-based collision detection, wherein the industrial robot (1) has at least one radar sensor (4.1), which can be actuated by a control device (2) and comprises a transmission device (6), which emits an excitation signal (S_4.1 to S_4.4) having a transmission frequency (f_S4.1 to f_S4.4) that changes during a measurement cycle (T_{1_4} to T_{i_4}), and has a receiving device (8), which is activated within a specified measurement time duration (• t_m) after the start of the emitting of the excitation signal (S_4.1 to S_4.4) in order to receive a measurement signal (M_4.1 to M_4.4), the receiving frequency (f_M4.1 to f_M4.4) of which lies within a specified frequency range (f_B4.1 to f_B4.4) around the transmitting frequency (f_S4.1 to f_S4.4) of the emitted excitation signal (S_4.1 to S_4.4), wherein the frequency range (f_B4.1 to f_B4.4) is smaller by a multiple than the transmitting frequency (f_S4.1 to f_{S4 4}) of the excitation signal (S_4.1 to S_4.4), distinguished in that the measurement cycles (T_{1_ 4} to T_{i_4}) are carried out within a plurality of successive measurement intervals (l₁; l₂, I₃) which have a substantially constant interval length, and in that the starting points (t_{1_4} to t_{i_4}) of two successive measurement cycles (T_{1_4} to T_{i_4}), based on the time of the start of one measurement interval (l₁; l₂, I₃) are varied by a variable time offset (• t_{1_4} to • t_{i_4}). The invention further relates to an industrial robot (1) for carrying out the method.