ROBOT MOVEMENT REGULATING METHOD, ROBOT SYSTEM, AND ROBOT MOVEMENT REGULATING DEVICE

摘要

The safety of robot work can be enhanced and the floor space of a factory or the like can be effectively used. The method is performed by defining an arm occupying area (A1, A2, A3, A4, A5, A6) including an arm of a robot and a work and a tool mounted on a wrist and a movement prohibited area (50) which the arm is not allowed to enter in a memory, estimating the coasting angle of each axis of the robot when the robot is urgently stopped while a command to move to the next target position (302) is executed, obtaining the coasting predicted position (303) of the robot by adding the coasting angle of each axis of the robot to the next target position (302), confirming whether or not the arm occupying area (A1, A2, A3, A4, A5, A6) in the coasting predicted position (303) enters the movement prohibited area (50), and when the entrance is confirmed, performing control to immediately stop the movement of the robot.