| 摘要 |
PROBLEM TO BE SOLVED: To stop a robot when the same is accidentally forced to evacuate due to erroneous detection.SOLUTION: A human-robot cooperative system (1) includes: an external force detection section (S, 21) which detects external force applied to a robot; an evacuation instruction section (22) which instructs the robot to evacuate in a manner that shifts a position thereof in a direction to reduce the external force when the external force detected by the external force detection section is larger than a first threshold; a position acquisition section (23) which acquires a current position of the robot; and an evacuation stop section (24) which causes the robot to stop evacuation when the current position acquired by the position acquisition section is beyond an evacuation region.SELECTED DRAWING: Figure 1 |
