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Robot controller for halting a robot based on the speed of a robot hand portion
Robot controller for halting a robot based on the speed of a robot hand portion
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机译:用于根据机器人手部的速度停止机器人的机器人控制器
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摘要
A robot includes a traveling rail supported by struts (11), and a robot body (20) attached to a slider (13) that slides on the traveling rail (12). A robot controller comprises speed calculation means (36) for calculating moving speeds of the robot hand portion (21) on the coordinate axes of a rectangular coordinate system set for the robot controller; comparator means (38) for comparing the moving speeds on the coordinate axes calculated by the speed calculation means with threshold values on the coordinate axes of the rectangular coordinate system, respectively; and halting means (34) for halting the robot in case at least any one of the moving speeds is higher than the corresponding threshold value. The strength required for the struts (11) can be lowered without limiting the dynamic capability of the robot.
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