| 摘要 |
PROBLEM TO BE SOLVED: To realize a control technique without unnecessary restriction of movement of a robot, while preventing incidents such that a human error occurs and a human enters a non-entry region during a cooperation work of human beings and a cooperating robot. SOLUTION: This device comprises: a means 22 for storing "a space requiring control by priority of safety" and "a space allowing control by priority of productivity" in a space having dimensions such as a distance to a non-entry region and speed; a storage means 17 of an avoiding trajectory group; a storage means 18 of an entry trajectory group; and a means 12 for judging whether an actual trajectory of the robot belongs to the avoiding trajectory group or the entry trajectory group. The device also has a means 26 for allowing a robot operation to continue unless it is judged to belong to the entry trajectory group when a movement condition of the robot is in "a soft safety control allowing space", and for restraining continuous robot operation unless it is judged to belong to the avoiding trajectory group in "a careful safety control requiring space". COPYRIGHT: (C)2004,JPO
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