To avoid the failure of a robot by relieving the impact applied thereto when the robot is collided with a foreign object.
A robot system 5 includes a robot 10 and a robot control device 50. The robot comprises an arm 17A moving according to a control signal and an air bag 20 which extends according to a start signal for relieving the impact applied to the robot when the arm 17A is collided with the foreign object. A robot control device 50 comprises an operation indication means 52, a robot control means 54 which generates a control signal according to an indication and sends the control signal to the robot 10, a robot operation simulation means 56 for simulating the movement of the arm 17A according to the control signal, a collision determination means 58 for determining the collision of the arm 17A with the foreign object from the results of the simulation, and an air bag control means 60 for sending the start signal to an air bag 20 on the basis of the results of the determination. When determining the collision of the arm with the foreign object, the air bag control means 60 sends the start signal to extend the air bag 20 before the collision of the arm with the foreign object.
Osamu Suzawa
Kazuhiko Miyasaka