Robotic system with cooperative workspace

摘要

A robotic system (1) having a cooperative workspace that a worker (11) and a robot (10) can simultaneously enter a control device (20) that controls the robot, the control device a stop unit (22) that stops the robot when an external force acting on the robot exceeds a certain limit, a position storage unit (23) which stores the stop position of the robot or the stop position and the attitude of the robot at the time of stopping the robot by the stop unit, a position distribution creating unit (24) which, when the robot has been stopped at least twice, establishes a distribution of the stop positions of the robot stored by the position storage unit and sets one or more speed restriction ranges, wherein the position distribution creating unit (24) does not make distribution when the robot only was once stopped, and a speed change unit that changes the operation speed of the robot in accordance with the distribution of the stop positions established by the position distribution creation unit or according to the one stop position of the robot in the one or more speed restriction areas; includes.