| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for stopping a robot which minimizes mechanical damage imparted to a robot and an obstacle when the multijoint robot collides with the obstacle or the like, and avoids recollision when played back again after detecting the collision. SOLUTION: A robot system includes a robot arm 4 driven by a motor 3 and a collision detection device 6 for detecting the collision of the robot arm 4 with the obstacle, and controls the robot arm 4 based on information from the collision detection device 6. The robot system includes a processing part 15 for selecting a stopping method which determines a plurality of stopping methods based on the information from the collision detection device 6. COPYRIGHT: (C)2010,JPO&INPIT |
