| 摘要 |
PROBLEM TO BE SOLVED: To provide a safety monitor device of a robot capable of being safely operated. SOLUTION: An operation controller 2 calculates target positions of each link contained in a joint arm and clamping pieces, and controls operations of servo motors 53a to 53f, 54f and 54g based on the calculated target positions. A region deciding part 10 sets a pair of link rows connected with the plurality of links and the clamping pieces in series for each clamping piece. The region deciding part 10 calculates a present position of the joint arm for every link row based on present positions of the links and clamping pieces, and decides whether or not the present position of the calculated joint arm for every link row is within a safe operating region. A safe stop part 11 stops the operations of the servo motors 53a to 53f, 54f and 54g when the present position of the joint arm is decided to be outside the safe operating region for any one link row. COPYRIGHT: (C)2010,JPO&INPIT
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