| 摘要 |
PROBLEM TO BE SOLVED: To surely stop a robot in an emergency, without giving an excessive load to the robot. SOLUTION: This device has a servo system emergency stop control means braking a robot by servo control in an emergency stop request, and a machanical emergency stop means giving a load in a direction obstructing action of the robot, after the robot makes its speed lower down to a safety speed Vs capable of ensuring a necessary braking distance by the servo system emergency stop control means, it is stopped thereafter to make the load act by the machanical emergency stop means, and the robot is made an emergency stop within the necessary braking distance.
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