CPC B25J 9/1666 (2013.01) [B25J 5/007 (2013.01); G05B 15/02 (2013.01); G05B 2219/31007 (2013.01); G05B 2219/40298 (2013.01); G05D 1/00 (2013.01); G05D 1/02 (2013.01)] | 20 Claims |
1. A system for avoiding collisions while navigating to a waypoint during process tending, the system comprising:
a self-driving vehicle having at least one vehicle safety sensor and a vehicle control system in communication with the at least one vehicle safety sensor;
a robot arm and at least one robot arm safety sensor carried by the vehicle; and
a robot arm control system in communication with the at least one robot arm safety sensor;
wherein when the self-driving vehicle is in motion, the vehicle control system and the robot arm control system are configured to operate in:
a first mode during which the robot arm control system is operable to prevent the robot arm from moving outside a perimeter of the self-driving vehicle and the vehicle control system is operable to control the self-driving vehicle based on the at least one vehicle safety sensor, and
a second mode during which the robot arm control system is operable to allow the robot arm to move outside the perimeter of the self-driving vehicle and the vehicle control system is operable to control the self-driving vehicle based on the at least one robot arm safety sensor and the at least one vehicle safety sensor.
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