Robot controller and robot system

• US 7,391,178 B2
• Filed: 04/21/2003
• Issued: 06/24/2008
• Est. Priority Date: 07/18/2002
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Yamamoto, Minoru, Kariyazaki, Hirokazu, Tanaka, Michiharu
• Primary Examiner(s): Donovan; Lincoln
• Assistant Examiner(s): HORN, ROBERT WAYNE
• Application Number:
  US10/521,549
• Publication Number:
  US 20060108960A1
• Time in Patent Office: 1,891 Days
• Field of Search: 318/568.21, 845/681.1
• US Class Current: 318/568.2
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 21/00 Chambers provided with manipulation devices constructional features of the mounting of the manipulator in the wall B25J1/08 ; glove-boxes for nuclear applications G21F7/04
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/49138 Adapt working envelop, limit, allowed zone to speed of tool
• CPC Class Codes: G05B 2219/49152 Feedhold, stop motion if machine door is open, if operator in forbidden zone
• CPC Class Codes: G05B 2219/49158 On near collision reduce speed

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).

Claims

1. 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:

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.

2. A robot control apparatus according to claim 1, wherein

the operation of the robot is stopped by making the operation command to each the axis zero, or interrupting driving energy to the robot.