| 摘要 |
PROBLEM TO BE SOLVED: To completely prevent interference and contact between a manipulator and a person, and deterioration of operation efficiency by reducing downtime of a device in a control device of a robot device provided with the manipulator. SOLUTION: The robot device includes an intrusion detection means 6 monitoring intrusion of an intrusion object 101 to a warning area B that includes a movable range of the manipulator 1 and is larger than the movable range, and to which the intrusion object 101 can intrude, and control means 3, 7 specifying the operation state of the manipulator 1 and controlling the operation of the manipulator 1. The control means 3, 7 decelerate the operation of the manipulator 1 when intrusion of the intrusion object 101 into the warning range B is detected by the detection means 6, and stop the operation of the manipulator 1 when intrusion of the intrusion object 101 to the movable range A of the manipulator 1 is detected and distance between the manipulator 1 and the intrusion object 101 becomes the predetermined distance or less. COPYRIGHT: (C)2010,JPO&INPIT |
