A method for planning boundary movement in a monitoring area of an industrial robot. The method comprises: calculating a virtual monitoring area according to the monitoring area and a current speed of the robot set by a user; and when the robot moves to enter the virtual monitoring area, carrying out deceleration control, so that the speed of the robot moving to the boundary of the monitoring area is in a relatively low range, thereby preventing damage from excessively high moment caused by emergency braking at a high speed. In deceleration control of the robot, a prospective planned trajectory speed is adjusted by planning the speed ratio of a controller, and the moving trajectory of the robot is not affected. Moreover, by considering the moving trend of the robot, the virtual monitoring area is refreshed dynamically. When the real-time position of the robot is not in the refreshed monitoring area, the moving trajectory of the robot can change in a direction away from the boundary of the monitoring area, and at this moment, the robot gradually restores the speed before deceleration with a certain rule, avoiding the operating efficiency of the robot being reduced excessively while safe braking is guaranteed.
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