The control control equipment and control method of the robot which coexists with the human

摘要

P To realize a control technique without unnecessary restriction of movement of a robot and while preventing incidents such that a human error occurs and a human enters a non-entry region during a cooperation work of human beings and a cooperating robot. PSOLUTION: This device comprises: a means 22 for storing a space requiring control by priority of safety and a space allowing control by priority of productivity in a space having dimensions such as a distance to a non-entry region and speed; a storage means 17 of an avoiding trajectory group; a storage means 18 of an entry trajectory group; and a means 12 for judging whether an actual trajectory of the robot belongs to the avoiding trajectory group or the entry trajectory group. The device also has a means 26 for allowing a robot operation to continue unless it is judged to belong to the entry trajectory group when a movement condition of the robot is in a soft safety control allowing space and for restraining continuous robot operation unless it is judged to belong to the avoiding trajectory group in a careful safety control requiring space. PCOPYRIGHT: (C)2004 and JPO