| 摘要 |
PROBLEM TO BE SOLVED: To promptly and easily obtain environment information around a manipulator in a robot device configured to monitor intrusion of an intrusion object. SOLUTION: The robot device includes an intrusion detection means 6 monitoring intrusion of an intrusion object to a precaution range that includes a movable range of the manipulator 1 and is larger than the movable range, and to which the intrusion object can intrude, and control means 3, 7 controlling the operation of the manipulator 1. The control means 3, 7 obtain the environment data around the manipulator 1 in the precaution range by putting the manipulator 1 in such an attitude that a projected area observed by the intrusion detection means 6 becomes minimum when no intrusion object exists in the precaution range, obtaining data by the intrusion detection means 6, and deleting data in a cone shape area including the manipulator 1 and having the intrusion detection means 6 as a vertex from the obtained data, thus creating the environment data. COPYRIGHT: (C)2010,JPO&INPIT
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