Robot control device and control method
Patent Information
- Authority / Receiving Office
- JP Β· JP
- Patent Type
- Patents
- Current Assignee / Owner
- FANUC LTD
- Filing Date
- 2022-04-08
- Publication Date
- 2026-06-23
- Estimated Expiration
- Not applicable Β· inactive patent
Smart Images
Figure 0007879226000001 
Figure 0007879226000002 
Figure 0007879226000003
Abstract
Claims
1. A robot control device for controlling a robot, A stop control unit that stops the robot when the external force applied to the robot exceeds a predetermined reference value, A robot control device comprising: a speed control unit that changes the operating speed of the robot when it is detected that an external force less than or equal to a predetermined reference value has been applied to the robot as a predetermined external force while the robot is operating according to a control program.
2. The robot control device according to claim 1, wherein the speed control unit, when the robot is operating in accordance with the control program, detects that a predetermined external force has been applied to the robot, and changes the operating speed of the robot according to the direction of the predetermined external force with respect to the operating direction of the robot.
3. The robot control device according to claim 1, wherein the speed control unit sets the degree to which the operating speed is changed according to the length of time the predetermined external force is applied to the robot.
4. The robot control device according to claim 1, wherein the speed control unit reduces the operating speed of the robot when the direction of the predetermined external force applied to the robot when the robot is operating in accordance with the control program can be considered to be in the opposite direction to the operating direction of the robot.
5. The robot control device according to claim 4, wherein the speed control unit reduces the operating speed of the robot when an external force below a first threshold is detected as the predetermined external force applied to the robot, and the direction of the external force can be considered to be opposite to the direction of the robot's movement.
6. The robot control device according to claim 1, wherein the speed control unit increases the operating speed of the robot when the direction of the predetermined external force applied to the robot when the robot is operating in accordance with the control program can be considered to be the same direction as the operating direction of the robot.
7. The robot control device according to claim 6, wherein the speed control unit increases the operating speed of the robot when an external force below a second threshold is detected as the predetermined external force applied to the robot, and the direction of the external force can be considered to be the same direction as the operating direction of the robot.
8. The robot control device according to claim 6, wherein the speed control unit, when the robot is moving at a speed lower than the speed specified in the control program, detects that a predetermined external force which can be considered to be in the same direction as the robot's movement direction has been applied to the robot, restores the robot's speed to the speed specified in the control program.
9. A control method for controlling a robot using a robot control device, The robot is stopped when the external force applied to the robot exceeds a predetermined reference value. A control method that includes changing the operating speed of the robot when it is detected that an external force less than or equal to a predetermined reference value has been applied to the robot as a predetermined external force while the robot is operating according to a control program.
10. The control method according to claim 9, wherein when the robot is operating in accordance with the control program, an external force below a first threshold is detected as the predetermined external force applied to the robot, and the direction of the external force can be considered to be opposite to the direction of the robot's movement, the operating speed of the robot is reduced.
11. The control method according to claim 9, wherein when the robot is operating in accordance with the control program, an external force less than or equal to a second threshold is detected as the predetermined external force applied to the robot, and the direction of the external force can be considered to be the same as the direction of the robot's movement, the operating speed of the robot is increased.