| 摘要 |
PROBLEM TO BE SOLVED: To secure the safety and achieve early return to work by minimizing damage of a robot and an environment when the robot comes into contact with the environment in the robot moving to work in the environment where people and obstacles exist. SOLUTION: This control device is provided for the robot 13 having a moving mechanism 11 and a manipulator 12. The robot control device includes: a sensor mechanism 15 for detecting a contact part between the environment where the obstacle exists and the robot and the contact force, respectively; a positional attitude measuring device 14 for measuring the positional attitudes of the moving mechanism 11 and the manipulator 12; a calculator 17 for calculating the contact force avoiding operation of the robot 13 from the above contact force and positional attitudes; and an actuator 16 for driving the moving mechanism 11 and the manipulator 12 according to the calculation result of the calculator 17. In the case of contacting between the environment where the obstacle exists and the robot, the avoiding operation is performed by cooperation of both the moving mechanism 11 and the manipulator 12. COPYRIGHT: (C)2005,JPO&NCIPI
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