| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device for an industrial robot more improved in safety by monitoring whether a command itself is safe and whether a command is rightly transmitted by a transmission system. SOLUTION: When determining whether a target position computed by a target position computing section 22 of the robot is a right command value, speed of an arm tip of the robot is computed on the basis of the target posture of the robot computed by each of shaft composing parts 23, and in the case wherein the computed speed of the arm tip is the predetermined safe speed or less, a determination that the target position command value is right is done. In the other case, abnormality is determined. With this structure, an error of the target position command value itself is detected to avoid a danger that the robot is operated with the wrong command value. COPYRIGHT: (C)2007,JPO&INPIT
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