| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control method, a robot control device, a robot control program and a recording medium, which improve convenience and safety in continuously carrying out work in automatic operation or in truing while being conformed to robot safety specification requiring interception of driving power after detecting the operation of a safety protection device to safely stop a robot. SOLUTION: In the control method for safely resuming robot operation after intercepting the driving power by the operation of the safety protection device 6 of the robot, the reset attitude of the robot during the operation of the safety protection device 6 is stored, and the robot state after the safety stop is divided into a "reset waiting" state of waiting for recovery of driving power and reset operation for resetting the robot into the reset attitude, a "resetting" state showing the recovery of driving power and reset operation are being carried out, and a "temporary stop" state of waiting for resumption of normal operation, and each state transition to the robot is controlled. COPYRIGHT: (C)2005,JPO&NCIPI
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