Robot control device controlling robot based on external force applied to robot and robot system
AssigneeFanuc Corporation
InventorsHiromitsu TAKAHASHI, Kazuhisa TAKAKI
Life of this patent
Estimating the term…
Abstract
In the past, sometimes a robot was made to unnecessarily retract. Therefore, this robot control device comprises a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object.
Claims5
A robot control device which controls an operation of a robot based on an output from a sensor which detects an external force applied to the robot, comprising:
- a contact judging part which judges whether the robot has contacted an object based on the external force detected by the sensor;
- a stop command part which stops the robot when the contact judging part judges that the robot has contacted the object;
- a continuous contact judging part which judges whether the robot continues to contact the object after stopping the robot;
- and
- a retraction command part which makes the robot retract in a direction away from the object when the continuous contact judging part judges that the robot continues to contact the object.
Dependencies are inferred from the claim text.