Operation control system and operation control method

An operation control method which is performed by a system including a movable member having a first mechanical element, an actuator which moves the movable member at a variable velocity, and a second mechanical element configured separately from the movable member and fixed at a position so as to be capable of making contact with the first mechanical element, the method comprising:

• an operation state recognition step of recognizing an operation state including a position and a velocity of the first mechanical element;
• and
• an actuator stop control step of outputting, to the actuator, a stop instruction for stopping the operation of the actuator in a case where the position and the velocity of the first mechanical element recognized in the operation state recognition step depart from a predetermined allowable range in a two-dimensional coordinate system, the two-dimensional coordinate system expressed by a position and a velocity,
• wherein in a case where a predetermined conditional expression is established which uses a position and a velocity of the first mechanical element, a collision time, a component indicating an allowable force which is allowable for the first mechanical element or the second mechanical element, a component indicating a resistance force applied to the movable member by the actuator, and a component indicating an inertia force applied to the first mechanical element, in the actuator stop control step the position and the velocity of the first mechanical element are determined to be within the allowable range.