Title:
ROBOT STOPPING METHOD AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2021/024707
Kind Code:
A1
Abstract:
This invention provides a robot stopping method with which, if a robot is provided with a capacitor or battery as a back-up power supply for causing the robot to carry out a prescribed operation when a power failure in an external power supply is detected, it is possible to reduce power consumption of the back-up power supply and simple to restart or to resume normal operations when the power supply is restored. In said robot, if a shaft that moves at least a part of the robot in the gravity direction is defined as a Z shaft and a time when a power failure occurrence is detected is defined as a reference time, when a power failure occurrence is detected and the Z shaft is rising, a deceleration time, which is the time until the Z shaft speed reaches zero due to deceleration caused by gravitational acceleration, is calculated on the basis of the rising speed of the Z shaft at the reference time, and a first control that drives the Z shaft is carried out so as to cause the rising of the Z shaft to slow and stop within the deceleration time.
Inventors:
OKUMURA HIROKATSU (JP)
Application Number:
PCT/JP2020/027244
Publication Date:
February 11, 2021
Filing Date:
July 13, 2020
Export Citation:
Assignee:
NIDEC SANKYO CORP (JP)
International Classes:
B25J19/06; H01L21/677
Foreign References:
| JP2009201180A | 2009-09-03 | |||
| JP2003131701A | 2003-05-09 | |||
| JP2008204365A | 2008-09-04 | |||
| JP2002218676A | 2002-08-02 | |||
| JP2004220384A | 2004-08-05 |
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