Control apparatus for robot having an arm moving within allowable working area

A control apparatus for a robot having an arm, comprising:

• a position detection circuit that detects a position of an arm every a predetermined observation time;
• a speed detecting circuit connected to the position detection circuit, that detects an operation speed of the arm every the predetermined observation time;
• an operation amount calculating circuit connected to the speed detecting circuit, that calculates an operation amount of the arm from a start timing of deceleration to a stop timing of the arm when the arm operating at the operation speed detected by the speed detecting circuit is decelerated with a predetermined deceleration;
• a judging circuit connected to the operation amount calculating circuit, that judges whether a stop position of the arm exceeds a predetermined working area when the arm moves by the operation amount from the position detected by the position detecting circuit;
• and
• a stop controlling circuit connected to the judging circuit, that stops the arm with the predetermined deceleration when the judging circuit judges that the stop position of the arm exceeds the predetermined working area.

A robot system, comprising:

• a robot main body including:
• a movable portion that rotatably connects arms;
• and
• a drive unit that rotates the movable portion;
• and
• a control apparatus including:
• a position detection circuit that detects a position of the arm every a predetermined observation time;
• a speed detecting circuit connected to the position detection circuit, that detects an operation speed of the arm every the predetermined observation time;
• an operation a mount calculating circuit connected to the speed detecting circuit, that calculates an operation amount of the arm from a start timing of deceleration to a stop timing of the arm when the arm operating at the operation speed detected by the speed detecting circuit is decelerated with a predetermined deceleration;
• a judging circuit connected to the operation amount calculating circuit, that judges whether a stop position of the arm exceeds a predetermined working area when the arm moves by the operation amount from the position detected by the position detecting circuit;
• and
• a stop controlling circuit connected to the judging circuit, that stops the arm with the predetermined deceleration when the judging circuit judges that the stop position of the arm exceeds the predetermined working area.

A method of controlling a robot having an arm, comprising:

• detecting a position of an arm every a predetermined observation time;
• detecting an operation speed of the arm every the predetermined observation time;
• calculating an operation amount of the arm from a start timing of deceleration to a stop timing of the arm when the arm operating at the detected operation speed is decelerated with a predetermined deceleration;
• judging whether a stop position of the arm exceeds a predetermined working area when the arm moves by the operation amount from the detected position;
• and
• stopping the arm with the predetermined deceleration when the stop position of the arm is judged to exceed the predetermined working area.