Human collaborative robot system having safety assurance operation function for robot

摘要

A human-collaborative robot system includes a first force detection section that detects external force acting on a robot; a second force detection section that detects only an operating force acting on the robot when a human manually operates the robot; and a safety assurance operation command section that, in the case where the external force detected by the first force detection section exceeds a predetermined threshold value, commands a safety assurance operation of causing the robot to move in a direction that reduces the external force or causing the robot to stop. When the human is manually operating the robot while the robot is in the stopped state, the safety assurance operation command section compares a value obtained by subtracting the operating force detected by the second force detection section from the external force detected by the first force detection section with a predetermined threshold value.