| 摘要 |
PURPOSE:To prevent the destruction of a robot body and its peripheral devices due to overrun of a robot arm by discriminating whether the robot arm exceeds the operation range or not if the robot arm approaches the limit of the operation range and damping the robot arm if it exceeds the operation range. CONSTITUTION:A position detecting part detects the current position of the robot arm to output position data, and a moving speed detecting part detects the current speed of the robot arm to output speed data Vm. Position information of deceleration operation start points PM and PP of the limit corresponding to the speed of the robot arm is stored in a memory of a danger discriminating part, and start points PM and PP for the speed Vm are obtained on the basis of speed data Vm sent from the moving speed detecting part, and position data sent from the position detecting part is compared with points PM and PP. They are compared on the basis of direction data sent from a moving direction detecting part. If a danger signal meaning that there is a danger of overrun is outputted from the danger discriminating part as the result of comparison, a damping device receives this signal to damp the robot arm.
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