| 摘要 |
PURPOSE: A method and an apparatus for stopping a manipulator are provided to enlarge a protective area by estimating upper limit to maximum braking distance during operation. CONSTITUTION: A method for stopping a manipulator is as follows. Various states(L) of the manipulator and/or braking distances for a braking power curve are previously simulated. The upper limit of the braking distance(Smax) is estimated based on the simulated braking distances. Areas(A0;A2) are monitored. If a robot intrudes into the areas, the manipulator is braked. The areas to be monitored are variably predetermined based on the braking distance of the manipulator during operation.
|
