| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot and its control method for controlling the robot with a second control part upon occurrence of a fault in a first control part, and performing motion considering the predetermined safety. SOLUTION: The robot includes the second control part 304 for assisting the first control part 302 for controlling the entire motion considering the fault of the first control part. The second control part controls the robot upon occurrence of a fault in the robot to perform the motion considering the predetermined safety. Especially, the motion considering the safety is limited to relatively simple motion, and a computation device the computation capability of which is relatively low with reduced cost is made to work as the second control part for controlling the motion considering the safety, thus reducing the cost incurred by addition of the second control part. COPYRIGHT: (C)2010,JPO&INPIT |
