robot controller

Abstract

An object of the present invention is to provide a robot control device that maintains high work efficiency and reduces the possibility of collision between the operator and the robot when they share the work space and perform work. It has a robot control state measurement unit (102 ), which measures the position and posture of the robot, that is, the robot control state; the work area setting part (104), which includes the body occupied by the operator in the operation action from the beginning to the end of the operation process. The area including the space is stored for each work process, and the work area corresponding to the current work process of the operator is set based on the work process specifying signal specifying the work process currently performed by the operator; and The robot instruction generating part (105), which generates an action instruction (105a) to the robot based on the operating area and the robot control state, and the robot instruction generating part (105) responds to the action instruction (105a) of the robot according to whether the robot exists in the operating area. ) to make changes.

Description

technical field [0001] The present invention relates to a robot control device that shares a working space with humans and operates. Background technique [0002] In recent years, the development of a human-robot coordinated robot system in which a worker and a robot share a working space without being separated by a safety fence has progressed. In the human-robot coordinated robot system, the operator may intrude into the movable range of the robot. In order to prevent the collision between the two, the possibility of collision between the operator and the robot is determined based on the position and speed of the robot. In some cases, the movement of the robot is restricted in such a way that the movement of the robot is stopped, thereby ensuring safety. In addition, the closer the worker and the robot exist, or the higher the speed at which the two move, the more likely they will collide. Therefore, the movement limit of the robot should be set at a stage where both are...

AI Technical Summary

Problems solved by technology

[0003] In Patent Document 1, which is an example of the prior art, the robot stops the operation every time the operator intervenes in the operation of the robot, and the work efficiency is reduced. For such a problem, the following content is disclosed. The current position and moving speed of the two predict the future position of both the operator and the robot, and judge the possibility of contact between the robot and the operator based on the predicted value. without stopping the robot's motion

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