Robot control system which enables safe robot operation and simple recovery when undesired movements are detected

A robot operation control system in which robot operation is manually controlled, comprising:

• operation command means for performing an operation command of said robot by a robot operator;
• initial state storage means for storing an initial position and attitude of a tool on said robot when the operation command is given by the operator and prior to any robot movement occurring;
• operation control means for performing operation control of said robot in accordance with said operation command;
• speed control means for controlling said robot so as to operate at said predetermined safety speed until a predetermined length of time is elapsed from start of said operation, and
• recovery control means for returning the robot tool to the initial position and attitude when a recovery command is given by an operator and while the robot is operating at the predetermined safety speed.

A robot operation control system in which robot operation is manually controlled, comprising:

• initial state storage means for storing an initial state of operation of said robot, wherein said initial state comprises a position and attitude of a tool on said robot prior to any robot movement occurring;
• operation command means for issuing an operation command of said robot by a robot operator;
• operation control means responsive to said operation command for performing operation control of said robot;
• recovery command means for commanding recovery to said initial state by a robot operator;
• recovery control means for, when said recovery command is given, causing said robot to return to said stored initial state;
• and
• speed control means for controlling said robot to operate at said predetermined safety speed until a predetermined length of time is elapsed from start of said operation.

A robot operation control method comprising the steps of:

• (a) storing an initial state data in a storage means before start of operation of a robot, wherein said initial state comprises a position and attitude of a tool on said robot prior to any robot movement occurring;
• (b) causing the robot to start its operation at a predefined low speed by a robot operator;
• (c) determining whether a recovery command is issued or not by the robot operator while the robot operates at the predefined low speed;
• (d) causing, upon issuance of a recovery command by the robot operator, the robot to return to the attitude and position of the tool as defined by the initial state data stored in step (a),
• (e) causing, when the recovery command is absent until elapse of a predetermined length of time after start of the operation of said robot, the speed of robot to gradually increase from said low speed until a predefined target speed;
• and
• (f) thereafter permitting manual operation control of the robot at a constant speed.