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US 12,759,144 B2Granted
Robot control device and control method
AssigneeFanuc Corporation
InventorHiroshi Katsuhisa
Life of this patent
Estimating the term…
Abstract
Provided is a robot control device for controlling a robot, the robot control device comprising a speed control unit for changing the operation speed of the robot in response to detection of a prescribed external force being applied to the robot when the robot is operating in accordance with a control program.
Claims10
A robot controller configured to control a robot, the robot controller comprising:
- a processor configured to:
- stop the robot in response to a first external force applied to the robot exceeding a predetermined reference value;
- change a motion speed of the robot in response to detection of, as a predetermined external force, a second external force applied to the robot by a user equal to or less than the predetermined reference value when the robot is operating according to a control program;
- and
- set a degree of change in the motion speed according to a length of a time during which the predetermined external force is applied to the robot by the user.
2 more elements
A robot controller configured to control a robot, the robot controller comprising:
- a processor configured to change a motion speed of the robot in response to detection of a predetermined external force being applied to the robot when the robot is operating according to a control program,
- wherein the processor is configured to increase the motion speed of the robot when a direction of the predetermined external force applied to the robot is considered to be the same direction as a motion direction of the robot in a case where the robot is operating according to the control program, and
- wherein the processor is configured to increase the motion speed of the robot when an external force equal to or less than a threshold value is detected as the predetermined external force, and a direction of the external force is considered to be the same direction as the motion direction of the robot.
A robot controller configured to control a robot, the robot controller comprising:
- a processor configured to change a motion speed of the robot in response to detection of a predetermined external force being applied to the robot when the robot is operating according to a control program,
- wherein the processor is configured to increase the motion speed of the robot when a direction of the predetermined external force applied to the robot is considered to be the same direction as a motion direction of the robot in a case where the robot is operating according to the control program, and
- wherein, when the robot has reduced a speed to a value lower than a speed specified by the control program, the processor is configured to restore a reduced speed of the robot to the speed specified by the control program in response to detecting that an external force being the predetermined external force and being considered to be in the same direction as the motion direction of the robot is applied to the robot.
A control method for controlling a robot by a robot controller, the control method comprising:
- stopping the robot in response to a first external force applied to the robot exceeding a predetermined reference value;
- changing a motion speed of the robot in response to detection of, as a predetermined external force, a second external force equal to or less than the predetermined reference value being applied to the robot by a user when the robot is operating according to a control program;
- and
- setting a degree of change in the motion speed according to a length of a time during which the predetermined external force is applied to the robot by the user.
1 more element
A control method for controlling a robot by a robot controller, the control method comprising:
- changing a motion speed of the robot in response to detection of a predetermined external force being applied to the robot when the robot is operating according to a control program;
- and
- increasing the motion speed of the robot when an external force equal to or less than a threshold value is detected as the predetermined external force, and a direction of the external force is considered to be the same direction as a motion direction of the robot in a case where the robot is operating according to the control program.
Dependencies are inferred from the claim text.