| 摘要 |
PROBLEM TO BE SOLVED: To prevent an industrial robot and an operator from being brought into contact with each other when the robot and the operator perform cooperative work together while avoiding the unwanted stop of the robot. SOLUTION: A safety controller 18 is provided for the human-cooperative industrial robot 3 coordinating the work with the operator 4 in accordance with a work program instructed in advance. A current position and moving speed of each of the operator 4 and the robot 3 are acquired. An operator reference position is calculated by estimating a future position of the operator 4 based on the current position and the moving speed of the operator 4, and a robot reference position is calculated by estimating the future position of the robot 3 based on the current position and the moving speed of the robot 3. Possibility of contact of the robot 3 with the operator 4 is determined based on the operator reference position and the robot reference position, and processing is performed based on the determination result of the contact possibility. COPYRIGHT: (C)2010,JPO&INPIT
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