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US 12,403,595 B2Granted
Robot control device
AssigneeFanuc Corporation
InventorsYasuhiro Naitou, Tomoyuki Yamamoto
Life of this patent
Estimating the term…
Abstract
Provided is a robot control device capable of easily setting a robot operation speed which is safe for an operator. The robot control device is equipped with: a selection unit for selecting a location of a human body; an allowed speed storage unit for associating and storing the location of the human body and the allowed speed for the robot at said location; and a robot control unit for retrieving the allowed speed associated with the location selected by the selection unit from the allowed speed storage unit, and setting the smallest value for the retrieved allowed speed as the maximum speed for the robot.
Claims6
A robot control device comprising:
- a processor;
- and
- a memory;
- wherein the processor is configured to:
- select a part forming a human body;
- store the part forming the human body and a permissible speed of a robot corresponding to the part in association with each other in the memory, wherein the permissible speed of the robot is a movement speed at which the robot can move without causing damage to each part of the human body if the robot were to contact such a part of the human body;
- store the part forming the human body and a threshold for contact force in association with each other, wherein the contact force being a force arising in a case where contact occurs between the robot and the part forming the human body;
- read, from the memory, the permissible speed associated with the selected part forming the human body;
- set a minimum value of the read permissible speed as a maximum speed of the robot, wherein the maximum speed of the robot is a limit value of the fastest speed at which the robot can operate;
- receive input of weight and height of a worker sharing a work area with the robot;
- calculate the permissible speed of the robot corresponding to the part forming the human body based on the weight and the height, and store the calculated permissible speed of the robot in the memory;
- and
- read, from the memory, the contact force threshold associated with the selected part forming the human body and the movement speed of the robot, set a minimum value of the read contact force threshold as a threshold for stopping the robot, and operate and stop the robot based on the maximum speed of the robot and the threshold for stopping the robot.
10 more elements
A robot control device comprising:
- a processor;
- and
- a memory;
- wherein the processor is configured to:
- select a part forming a human body;
- store the part forming the human body and a permissible speed of a robot corresponding to the part forming the human body in association with each other, wherein the permissible speed of the robot is a movement speed at which the robot can move without causing damage to each part of the human body if the robot were to contact such a part of the human body;
- store the part forming the human body and a threshold for contact force in association with each other, wherein the contact force being a force arising in a case where contact occurs between the robot and the part forming the human body;
- acquire, from the memory, the permissible speed associated with the selected part forming the human body and set a maximum speed of the robot based on the permissible speed, the maximum speed of the robot is a limit value of the fastest speed at which the robot can operate;
- receive input of weight and height of a worker sharing a work area with the robot;
- calculate the permissible speed of the robot corresponding to the part based on the weight and the height, and store the calculated permissible speed of the robot in the memory;
- and
- read, from the memory, the contact force threshold associated with the selected part forming the human body and the movement speed of the robot, set a minimum value of the read contact force threshold as a threshold for stopping the robot, and operate and stop the robot based on the maximum speed of the robot and the threshold for stopping the robot.
9 more elements
Dependencies are inferred from the claim text.