Title:
ロボットの制御装置
Document Type and Number:
Japanese Patent JP6922486
Kind Code:
B2
Abstract:
To provide a control device for a robot that, in a case where the robot collides with a worker, is able to decelerate the robot speedily and prevent the robot from colliding with the worker again.SOLUTION: A control device 70 that controls a robot 10 whose joints are respectively driven by motors M, comprises: a collision detection unit that detects a collision of the robot with an object; a first control unit that, in a case where a collision of the robot with an object is detected by the collision detection unit, exerts deceleration control in which each motor is driven so as to decelerate; and a second control unit that, after the deceleration control by the first control unit, performs dynamic brake for a predetermined period such that supply of power to each motor from the power source 14 is stopped and a short circuit is caused between power input and output terminals in each motor.SELECTED DRAWING: Figure 2
Inventors:
Hiroshi Endo
Application Number:
JP2017132643A
Publication Date:
August 18, 2021
Filing Date:
July 06, 2017
Export Citation:
Assignee:
Denso Wave Co., Ltd.
International Classes:
B25J19/06; H02P3/00; H02P5/46
Domestic Patent References:
| JP2017019058A | ||||
| JP2011067017A | ||||
| JP2007037301A | ||||
| JP2019000930A | ||||
| JP2017030081A | ||||
| JP2010228028A |
Attorney, Agent or Firm:
Tsuyoshi Yamada
Hiroshi Matsuda
Hiroshi Matsuda