METHOD AND ARRANGEMENT TO AVOID COLLISION BETWEEN A ROBOT AND ITS SURROUNDINGS WHILE PICKING DETAILS INCLUDING A SENSORSYSTEM - Patent 1569776

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EP 1 569 776 A1

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(43)	Date of publication:
	07.09.2005 Bulletin 2005/36

(21)	Application number: 03812746.0

(22)	Date of filing: 10.12.2003

(51)	International Patent Classification (IPC)⁷: B25J 9/16

(86)	International application number:
	PCT/SE2003/001933

(87)	International publication number:
	WO 2004/052596 (24.06.2004 Gazette 2004/26)

(84)	Designated Contracting States:
	AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR
	Designated Extension States:
	AL LT LV MK

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Priority:

10.12.2002 SE 0203655

(71)	Applicant: Svensk Industriautomation AB
	556 28 Jönköping (SE)

(72)	Inventor:
	KESTI, Ari S-562 30 Norrahammar (SE)

(74)	Representative: Willquist, Bo Lorentz
	Awapatent i Linköping AB Platensgatan 9 C 582 20 Linköping 582 20 Linköping (SE)

(54)	METHOD AND ARRANGEMENT TO AVOID COLLISION BETWEEN A ROBOT AND ITS SURROUNDINGS WHILE PICKING DETAILS INCLUDING A SENSORSYSTEM