| 摘要 |
PROBLEM TO BE SOLVED: To avoid any contact of a robot with a person as much as possible while the robot is being operated. SOLUTION: When a robot arm is moved in the approaching direction to an object, and if a person and the robot arm are brought close to each other in a predetermined distance, the robot arm is subjected to the emergency stop. If the person and the robot arm are separated from each other over the predetermined distance, the robot arm is decelerated according to the distance therebetween. When the robot arm is moved in the receding direction, the operation of the robot arm according to the operational program is continued without stopping or decelerating the robot arm. COPYRIGHT: (C)2011,JPO&INPIT |
