US Patent No. 10,828,776

CONTROL DEVICE FOR LIMITING SPEED OF ROBOT


Patent No. 10,828,776
Issue Date November 10, 2020
Title Control Device For Limiting Speed Of Robot
Inventorship Takumi Oyama, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 10,828,776

1. A control device for controlling an operation speed of a robot, the control device comprising:a processor configured to
stop an operation of the robot in response to a person coming in contact with the robot, and
limit the operation speed of the robot, wherein
a distance determination value relating to an accident caused by sandwiching a person between two objects among a component of the robot, an operation tool attached to the robot, and an object arranged around the robot is predetermined,
a contact determination value is a determination value for a distance when the two objects among the component of the robot, the operation tool, and the object arranged around the robot come into contact with each other,
the contact determination value relating to contact between the two objects is a value that is different from the distance determination value relating to the accident caused by sandwiching the person,
the processor is configured to
generate three-dimensional models of the two objects among the component of the robot, the operation tool, and the object arranged around the robot,
calculate a shortest distance between the models of the two objects in the three-dimensional models,
determine whether or not the shortest distance is less than the distance determination value,
in response to the shortest distance being less than the distance determination value, control the operation speed of the robot so that the operation speed is equal to or lower than a first limit speed determined in advance,
determine whether or not the shortest distance is less than the contact determination value, and
in response to the shortest distance being less than the contact determination value, control the operation speed of the robot so that the operation speed is equal to or lower than a second limit speed determined in advance.