MIR MiR Hook 100 TM, Руководство по эксплуатации

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MiRHook User Guide, Robot Interface 2.0, 02/2019 v.1.9 4
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5 Space requirements
5.1 Space required to pick up a cart
As system operator, you are responsible of ensuring that MiR100/MiR200 has enough space
to pick up a cart. When preparing to pick up a cart, the robot moves to a position in front of
the given cart position (1.7 m from the position). The robot camera orients itself towards the
QR marker before backing towards the cart. If misaligned more than 5 degrees, the robot will
turn 90 degrees to the side to place itself on a line directly behind the cart.
5.2 Basic principle of driving with a cart
Once a cart is attached to MiR100/MiR200, the robot does not reverse when going from
position A to position B, see Safety on page 9. As a result, its dynamic obstacle avoidance
capabilities are somewhat restricted compared to when a cart is not attached. The system
operator needs to keep this in mind when choosing where to run MiRHook.
5.3 Space required to turn a corner
The space required to turn a corner depends on the combined length of robot and cart; a square
measuring the total length of robot and cart plus 500 mm is the optimum space turning a corner (see
Figure 5).
Make sure the space around the robot is clear as the alignment is done without collision
check.