Humans - robots - cooperation system, in which is brought about, and that a robot a retraction process as a function of an external force is carried out

摘要

A person - robots - cooperation system contains the following: an external - force - detection unit, the detected, an external force, which acts on a robot; a retraction process a command unit, which is a retraction process command, in order to have the effect that the robot is moved in a direction in such a way that the external force is reduced when the external force applied by the external - force - detection unit has been detected, greater than a first - limit value; and an external - force - a variation of observation unit, which stops the retraction process, when a range of variation of the external force to a predetermined time after the retraction process of the retraction process a command unit has been instructed, smaller than a second limit value is.