ロボット動作規制方法およびロボットシステム

Japanese Patent JP5365524

B2

Safety of a robot operation is increased and floor space of a factory or the like is efficiently used. Arm occupying regions (A1, A2, A3, A4, A5, A6) occupied by an arm of a robot and a workpiece or a tool attached to a wrist and a movement-forbidden region (50), which an arm is not permitted to enter, are defined in a memory. Coasting angle of each axis of the robot in a case that the robot is urgently stopped during execution of a movement command to a next target position (302) is estimated and added to the next target position (302), so that a predicted coasting position (303) of the robot is calculated. Whether the arm-occupied regions (A1, A2, A3, A4, A5, A6) at the predicted coasting position (303) enter the movement-forbidden region (50) is checked. If it is determined that the arm-occupied regions (A1, A2, A3, A4, A5, A6) enter the movement forbidden region (50), control is immediately performed so as to stop movement of the robot.

JPH0899285	COLLISION PREVENTING DEVICE FOR ROBOT
JPS6067095	SAFETY DEVICE FOR ROBOT
JP2012176466	COUPLING DEVICE WITH SAFETY DEVICE

Kayazaki Hirokazu
Maehara Shinichi
Yamamoto Kiho
Tanaka Michiharu

JP2009544621A

December 11, 2013

November 14, 2008

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Yaskawa Electric Co., Ltd.

B25J19/06

JP2002331478A	2002-11-19
JP2000190262A	2000-07-11
JP2007144524A	2007-06-14
JP2003131713A	2003-05-09
JP2005128686A	2005-05-19
JPS62103769A	1987-05-14
JP2004322244A	2004-11-18
JP2006068857A	2006-03-16
JP2004001217A	2004-01-08
JP2000315103A	2000-11-14
JPS6341910A	1988-02-23
JPH07314378A	1995-12-05
JP2002331478A	2002-11-19
JP2000190262A	2000-07-11
JP2007144524A	2007-06-14
JP2003131713A	2003-05-09
JP2005128686A	2005-05-19
JPS62103769A	1987-05-14

Hiroaki Sakai

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