| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control device and a robot control method equipped with a function for surely protecting respective components of a robot. SOLUTION: A motor speed V is acquired by reading outputθof a rotary encoder attached to a servo motor and calculating difference with a previous speed loop. The processors of servo control devices of respective links of the robot arm execute a normal speed loop process and calculate torque instruction Tc of the motor. Next, a loading torque Tr applied to a retarder is calculated from the calculated Tc and V. Then, comparing Tr with a threshold value L which is an allowable value determined for respective shafts beforehand, if Tr>L is satisfied for any of the shafts, it is determined that an abnormality occurs and an alarm or a warning is issued so that an action for protecting an objective component is executed by the robot. COPYRIGHT: (C)2009,JPO&INPIT
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