US 9,808,934 B2
Robot control apparatus judging restart of operation program
Takumi Oyama, Yamanashi (JP); and Tomoyuki Yamamoto, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Feb. 29, 2016, as Appl. No. 15/56,301.
Claims priority of application No. 2015-045350 (JP), filed on Mar. 6, 2015.
Prior Publication US 2016/0257003 A1, Sep. 8, 2016
Int. Cl. G05B 19/04 (2006.01); G05B 19/18 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/1676 (2013.01) [B25J 9/1674 (2013.01); G05B 2219/40201 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A robot control apparatus which controls a robot driven based on an operation program, the robot control apparatus comprising:
an external force estimation unit which estimates the external force applied to the robot;
a stop command unit which stops the robot on a basis of an external force; and
a judgement value storage unit which stores judgement values relating to the external force, wherein
the judgement value storage unit previously stores a stop judgement value for temporarily stopping the robot, a first external force judgement value smaller than the stop judgement value and for restarting driving of the robot, and a second external force judgement value smaller than the first external force judgement value; and
the stop command unit
performs control to temporarily stop execution of the operation program when the external force exceeds the stop judgement value during a period during which the robot is driven based on the operation program,
performs control to restart the execution of the operation program when, in a state where the execution of the operation program is temporarily stopped, the external force is continuously equal to or less than the first external force judgement value during a period of a predetermined first time length, and additionally, a time length in which the external force continuously exceeds the second external force judgement value is equal to or less than a predetermined second time length, and
performs control to inhibit a restart of the execution of the operation program when, in a state where the execution of the operation program is temporarily stopped, the external force is continuously equal to or less than the first external force judgement value during a period of the predetermined first time length, and additionally, the time length in which the external force continuously exceeds the second external force judgement value is more than the second time length.