公开(公告)号：US20230256605A1

公开(公告)日：2023-08-17

申请号：US18015539

申请日：2021-03-05

Applicant: OMRON Corporation

Inventor： Xiaoguang NING ,  Shigeki SUGANO ,  Tomohiro WADA ,  Yoshihiro SAKAMOTO

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1676 ,  B25J9/1651 ,  G05B19/4155 ,  G05B2219/50391

Abstract: In the present invention, contact between an operator and a robot that moves a workpiece is avoided, and an effect on an article is reduced. This robot controller (1), which controls the operation speed of a robot (2) that moves a workpiece (3), comprises: a prediction unit (11) that predicts contact from the position of a robot and the position of a person or object; and an acceleration change unit (12) that, when contact is predicted by the prediction unit, changes the acceleration at which the speed of the robot is reduced to perform an emergency stop in accordance with the presence of the workpiece.