| 摘要 |
PROBLEM TO BE SOLVED: To provide a power assist type robot which can deal with further safety, different from a conventional industrial robot, and which performs work in cooperation with a human, and to provide a control device and a control method of a robot.SOLUTION: After a pinching determination unit 15 determines that a person 91 or an object is caught in-between, during a time limit set by a limit time setting unit 51, when region classification units 52, 55 determine that a tip part is located in a region on which restriction is put determined by the region classification units, an operation of a joint part on which restriction is put is stopped, and at least one of joint parts on which restriction is not put is operated by force control units 14, 16. After the time limit, operation control can be performed by the force control unit for all the joint parts. |
