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
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Abstract
A robot control device includes 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.
Claims9
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, the robot control device comprising:
- a processor configured to
- judge whether the robot has contacted an object based on the external force detected by the sensor;
- stop the robot when the processor judges that the robot has contacted the object;
- judge whether the robot continues to contact the object after stopping the robot;
- and
- retract the robot in a direction away from the object when the processor judges that the robot continues to contact the object after said stopping the robot.
Dependencies are inferred from the claim text.