Control device for limiting speed of robot

A control device for controlling the operation speed of a robot, comprising:

• a stop command unit for stopping an operation of the robot when a person comes in contact with the robot;
• a speed limit unit for limiting the operation speed of the robot;
• and
• a storage unit for storing information relating to a control of the robot, wherein
• a distance determination value relating to an accident caused by sandwiching a person between two objects among a component of the robot, an operation tool attached to the robot, and an object arranged around the robot is predetermined, and is stored in the storage unit,
• the speed limit unit includes a model generation unit for generating three-dimensional models of at least two objects among the component of the robot, the operation tool, and the object arranged around the robot, a distance calculation unit for calculating a shortest distance between the models of the two objects in the three-dimensional models, and a determination unit for determining whether or not the shortest distance is less than the distance determination value, and
• when the shortest distance is less than the distance determination value, the speed limit unit controls the operation speed of the robot so that the operation speed is equal to or lower than a predetermined limit speed.