Abstract: A method for the safety control, through direct teaching, of a robotised system comprises a learning step, wherein a processing unit determines a relative distance (RD) between at least one link (L) of the robot manipulator and an operator (O) and controls whether the relative distance (RD) of the at least one link (L) exceeds a predefined distance threshold value (TV); wherein 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.

Abstract: A method to control a closed robotised system comprises a learning step and a reproduction step, wherein, during the learning step, an operator exerts a force and/or a torque (Fc) on a driving assembly, whose sensor detects an applied force and/or torque (Fext); and wherein a processing system carries out an admittance control obtaining, depending on the data detected by the sensor, indications (Xref, X*ref) of movement for the robot manipulator in the Cartesian space; the processing system, following the admittance control, delivers the indications (Xref, X*ref) of movement in the Cartesian space to a trajectory interpolation unit of the robotised system so as to generate a desired trajectory through interpolation.

Abstract: A method for the safety control, through direct teaching, of a robotised system comprises a learning step, wherein a processing unit determines a relative distance (RD) between at least one link (L) of the robot manipulator and an operator (O) and controls whether the relative distance (RD) of the at least one link (L) exceeds a predefined distance threshold value (TV); wherein 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.

Abstract: CLEAN COPY OF THE ABSTRACT A method to control a closed robotised system comprises a learning step and a reproduction step, wherein, during the learning step, an operator exerts a force and/or a torque (Fc) on a driving assembly, whose sensor detects an applied force and/or torque (Fext); and wherein a processing system carries out an admittance control obtaining, depending on the data detected by the sensor, indications (Xref, X*ref) of movement for the robot manipulator in the Cartesian space; the processing system, following the admittance control, delivers the indications (Xref, X*ref) of movement in the Cartesian space to a trajectory interpolation unit of the robotised system so as to generate a desired trajectory through interpolation.