Simulation of the stopping behavior of industrial robots

Ensuring safety for human robot interaction requires knowledge of the dynamic stopping behavior of the robot. This paper presents a multibody model developed to simulate the movement of industrial robots during the braking process. The main contribution is the suggested state-based braking model to overcome numerical problems of the friction behavior upon transitions between sliding and sticking. An analysis of the model upon ocurrance of these transitions is presented. Concluding this paper the simulation model is evaluated using measurement data from a KUKA KR16 industrial robot.