Robot controller and robot system
1 Assignment
0 Petitions
Accused Products
Abstract
A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
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Citations
44 Claims
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1-13. -13. (canceled)
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14. A robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant, comprising:
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a detecting device for detecting the position of the teacher;
a signal processing unit for receiving a signal from the detecting device to produce the position information of the teacher; and
a limited speed selecting unit for selecting the operating speed of the robot on the basis of the position information, wherein the robot is controlled at the maximum operating speed selected by the limited speed selecting unit on the basis of the operation command from the pendant. - View Dependent Claims (15)
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16. A robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant and a detected position in a position detector attached to each axis, comprising:
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a robot position computing unit for computing the coordinate position of the robot on the basis of the detected position; and
a limited speed selecting unit for selecting the operating speed of the robot on the basis of an output from the robot position computing unit, wherein the robot is controlled at the maximum operating speed selected by the limited speed selecting unit on the basis of the operation command from the pendant. - View Dependent Claims (17, 18)
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19. A robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant and a detected position in a position detector attached to each axis, comprising:
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a detecting device for detecting the position of the teacher;
a signal processing unit for receiving a signal from the detecting device to produce the position information of the teacher;
a robot position computing unit for computing the coordinate position of the robot on the basis of the detected position; and
a limited speed selecting unit for selecting the operating speed of the robot on the basis of outputs from the signal processing unit and the robot position computing unit, wherein the robot is controlled at the maximum operating speed selected by the limited speed selecting unit on the basis of the operation command from the pendant. - View Dependent Claims (20, 21)
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22. The robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant and a detected position by a position detector attached to each axis comprising:
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an input unit for inputting a position monitoring signal for monitoring the position of the robot;
a position storage member for storing the detected position when the position monitoring is inputted;
a permitted value storage member for storing a prescribed permitted range of the operation of each the axis;
a position difference computing member for computing a position difference between the detected position and the detected position stored in the position storage member; and
a comparing member for comparing the position difference and the permitted range, wherein while the position monitoring signal is inputted, if the position difference exceeds the permitted range as a result of comparison in the comparing member, the operation of the robot is stopped. - View Dependent Claims (23, 24, 25, 26)
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27. A robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant and a detected position in a position detector attached to each axis, comprising
an input unit for inputting a position monitoring signal for monitoring the position of the robot; -
a position storage member for storing the detected position when the position monitoring signal is inputted;
a permitted value storage member for storing a prescribed permitted range of the operation of each the axis;
a position difference computing member for computing a position difference between the detected position and the detected position stored in the position storage member; and
a comparing member for comparing the position difference and the permitted range, wherein while the position monitoring signal is inputted, the detected position is stored after comparison has been made by the comparing member, and if the position difference exceeds the permitted range as a result of comparison in the comparing member, the operation of the robot is stopped. - View Dependent Claims (28, 29, 30, 31)
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32. A robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant and a detected position by a position detector attached to each axis, comprising:
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a robot position computing unit for computing a position difference between the coordinate position of the robot on the basis of the detected position;
an input unit for inputting a position monitoring signal for monitoring the position of the robot;
a position storage member for storing the coordinate position when the position monitoring signal is inputted;
a permitted value storage member for storing a prescribed permitted range of the operation of each the axis;
a position difference computing member for computing the coordinate position and the coordinate position stored in the position storage member; and
a comparing member for comparing the position difference and the permitted range, wherein while the position monitoring signal is inputted, if the position difference exceeds the permitted range as a result of comparison in the comparing member, the operation of the robot is stopped. - View Dependent Claims (33, 34, 35, 36, 37)
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38. A robot control apparatus equipped with a pendant to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant and a detected position in a position detector attached to each axis, comprising:
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a robot position computing unit for computing the coordinate position of the robot on the basis of the detected position;
an input unit for inputting a position monitoring signal for monitoring the position of the robot;
a position storage member for storing the coordinate position when the position monitoring signal is inputted;
a permitted value storage member for storing a prescribed permitted range of the operation of each the axis;
a position difference computing member for computing a position difference between the coordinate position and the coordinate position stored in the position storage member; and
a comparing member for comparing the position difference and the permitted range, wherein while the position monitoring signal is inputted, the coordinate position is stored after comparison has been made by the comparing member, and if the position difference exceeds the permitted range as a result of comparison in the comparing member, the operation of the robot is stopped. - View Dependent Claims (39, 40, 41, 42, 43)
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44. A robot system in which a plurality of robots are operated by a plurality of mans so as to permit the position or speed of each robot to be monitored by inputting a position monitoring signal through an input unit of a robot control device, wherein
inputting of the position monitoring signal identifies that another operator operating another robot has entered a predetermined region of a certain robot being operated by an operator, thereby monitoring the position or speed of the robot.
Specification