| 摘要 |
PROBLEM TO BE SOLVED: To provide a restart operation control method for a robot control device for avoiding shortcut to a determined operational locus in robot restart operation after an emergency stop. SOLUTION: The robot control device includes: a command position generating part 1 for generating a command position according to teaching data; a servo control part 3 controlling a servo motor for driving a joint shaft of a robot 6 based on the command position; and a position estimating part 2 for computing an estimation position as a command position nearest to the actual position of the robot 6 based on the command position generated by the command position generating part 1 and the actual position of the robot 6 obtained by an encoder provided on a servo motor. An actual position confirming area is provided in a position estimating part 2, the command positions sequentially generated by the command position generating part 1 are sequentially stored in the actual position confirming area, it is estimated which command position of the stored command positions the robot 6 actually reaches, and according to the estimated position, the restart operation of the robot 6 is performed. COPYRIGHT: (C)2004,JPO
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