Robot control unit for stopping a movement of a robot according to a force detection value detected by a force sensor

A robot control unit having a designated speed adjusting arrangement for adjusting a designated speed, which is contained in a robot command program, to a value not more than the designated speed, comprising:

• a decoding arrangement for decoding a movement command having a force limitation of stopping a movement of the robot according to a force detection value detected by a force sensor attached to a wrist of the robot;
• a movement command arrangement for generating a command of moving the robot by the designated speed contained in the program to a designated position contained in the program in the case of decoding the movement command having the force limitation by the decoding arrangement without activating the designated speed adjusting arrangement;
• a force calculation arrangement for calculating a change in a force detection value from a reference value as a present force value when a force detection value of the force sensor at the time of starting a movement of the robot is used as the reference value;
• and
• a comparison arrangement for comparing the present force value, which is repeatedly calculated at a predetermined period by the force calculation arrangement, with a predetermined designated force value while the robot is moving, wherein
• when the comparison arrangement judges that the present force value is not less than the designated force value, the movement command arrangement stops the robot and a predetermined processing is executed for the robot, and
• when the robot reaches the designated position while the present force value is being maintained at a value not more than the designated force value, the movement command arrangement stops the robot and the original processing of the robot in the program is continued.