SAFETY OPERATION SYSTEM FOR MANIPULATOR.

摘要

A safety operation system for a manipulator is provided with a first operation section (1, 4, 5, 6, 7). The first operation section has a first movable section (1), and outputs a first operation signal representing the position and angle of the first movable section (1). A failure detecting section (8) detects failure of the first operation section on the basis of the first operation signal, and outputs a detection signal. When failure of the first operation section is not detected, a conversion section (9) converts the first operation signal into a control signal. A second operation section (2, 10 to 15) has a second movable section (2) which moves in accordance with movement of the first movable section (1), and outputs a second operation signal generated in accordance with movement of the second movable section. A comparison section (16) compares the control signal with the second operation signal, and outputs a deviation signal used for opening the second movable section. A management section (20) receives the detection signal, and supplies the comparison section (16) with a signal for making deviation signal zero, thereby prohibiting the second movable section from being driven. A display section (19) displays data on the failure of the first operation section and/or data on the current position of the first movable section, on the basis of a signal output from the management section (20).