| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable a cooperative task in which a human and a robot may simultaneously perform in the same area while ensuring human's safety. Ž<P>SOLUTION: A robot 2 is positioned at one side of a working table 6, and an operator 1 is positioned at the other side of the working table. The reachable area of the operator 1 is limited by the working table 6. As a result, an area of the working table 6 is divided into a human task area 3 where only the operator 1 may perform a task, a robot task area 4 where only the robot 2 may perform a task, and a cooperative task area 5 where both the operator 1 and the robot 2 may enter. A control means of the robot 2 has a cooperative task mode, in which the maximum movement speed of a component of the robot 2 inside the cooperative task area 5 is limited lower than that when the component of the robot is outside the cooperative task area 5, and, the motion of the robot 2 is limited so that the robot component does not enter a robot entry-prohibited area 8 within the predetermined distance from a peripheral member such as the working table 6 and a member 10 within the cooperative task area 5. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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