Robot, device and method for controlling robot, and computer-readable non-transitory recording medium

A device for controlling a robot, comprising:

• a position information obtaining unit that obtains position information about an end portion of a robot arm having a plurality of joints;
• a first force detector that detects a force that an operator applies to the robot arm;
• a jam determination unit that determines whether or not the operator or an object is jammed between the robot arm and an external structure on the basis of the force detected by the first force detector;
• an area classification unit that classifies an area in which the end portion moves into a restricted area and an unrestricted area;
• and
• a restriction period setting unit that sets a restriction period during which movement of the robot arm is restricted;
• a microprocessor that:
• imposes movement restriction on, and automatically stopping movement of, one or more of the plurality of joints if an elapsed period after detection of the jam is in the restriction period and the end portion is located in the restricted area, and does not restrict movement of at least one of the plurality of joints excluding the one or more of the plurality of joints,
• removes the movement restriction if the elapsed period ends after the restriction period, and
• does not impose movement restriction on the plurality of joints if the elapsed period after detection of the jam is in the restriction period and the end portion is located in the unrestricted area.

A method for controlling a robot with a microprocessor, comprising:

• obtaining position information about an end portion of a robot arm having a plurality of joints;
• detecting a force that an operator applies to the robot arm;
• performing the following with the microprocessor:
• receiving the position information, and force information indicative of the force;
• classifying an area in which the end portion moves into a restricted area and an unrestricted area;
• determining whether or not the operator or an object is jammed between the robot arm and an external structure on the basis of the force information;
• setting a restriction period during which movement of the robot arm is restricted,
• imposing movement restriction on, and automatically stopping movement of, one or more of the plurality of joints if an elapsed period after detection of the jam is in the restriction period and the end portion is located in the restricted area, and not restricting movement of at least one of the plurality of joints excluding the one or more of the plurality of joints,
• removing the movement restriction if the elapsed period ends after the restriction period, and
• not imposing movement restriction on the plurality of joints if the elapsed period after detection of the jam is in the restriction period and the end portion is located in the unrestricted area.

A computer-readable non-transitory recording medium storing a program for causing a computer to perform operations, the operations including:

• obtaining position information about an end portion of a robot arm having a plurality of joints;
• detecting a force that an operator applies to the robot arm;
• receiving the position information, and force information indicative of the force;
• classifying an area in which the end portion moves into a restricted area and an unrestricted area;
• determining whether or not the operator or an object is jammed between the robot arm and an external structure on the basis of the force information;
• setting a restriction period during which movement of the robot arm is restricted,
• imposing movement restriction on, and automatically stopping movement of, one or more of the plurality of joints if an elapsed period after detection of the jam is in the restriction period and the end portion is located in the restricted area, and not restricting movement of at least one of the plurality of joints excluding the one or more of the plurality of joints,
• removing the movement restriction if the elapsed period ends after the restriction period, and
• not imposing movement restriction on the plurality of joints if the elapsed period after detection of the jam is in the restriction period and the end portion is located in the unrestricted area.