| 摘要 |
PROBLEM TO BE SOLVED: To stop a joint at the limited position of an operation range by decelerating it at a prescribed deceleration by means of a brake and stopping it, when a position where the joint operating at the speed at a monitoring time is decelerated at the preset deceleration and stopped exceeds the preset operation range. SOLUTION: Speeds and positions of joints 5-7 are monitored by a CPU provided in a control device 2 by sampling points. Prescribed monitoring time frequency is determined every very short time, for example, the sampling time coming every 8 m second, and here speeds and positions of the joints at the next sampling time are obtained. Stopping positions when each of the joints 5-7 is decelerated at prescribed decelerations are determined by calculation. When this stopping position determined by calculation exceeds a normal operation range, the joints are actually braked to decelerate and stop these joints.
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