Patent ID: 11878429
Assignee: KABUSHIKI KAISHA YASKAWA DENKI
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 9:
10. A robot control system comprising:
a parallel link robot comprising;
a plurality of link mechanisms; and
a plurality of motors configured to drive the plurality of link mechanisms, respectively; and

a robot control apparatus comprising:
a drive controller configured to control the plurality of motors; and
abnormality determination circuitry configured to determine based on state data of the plurality of motors whether collision between the parallel link robot and an object outside of the parallel link robot occurs,
the drive controller being configured to control the plurality of motors so that the plurality of link mechanisms retreat when it is determined that the collision occurs,
wherein the drive controller controls the plurality of motors so as to move a movable portion of the parallel link robot to a position separated from a collision point by a predetermined distance when it is determined that the collision occurs.