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

Claim 0:
1. A robot control apparatus comprising:
a drive controller configured to control a plurality of motors which are configured to drive a plurality of link mechanisms of a parallel link robot, respectively; 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, when the abnormality determination circuitry determines that the collision occurs, the drive controller controls the plurality of motors such that movement of an attachment member which is connected to the plurality of link mechanisms and to which an end effector is configured to be attached is different between XY collision in an XY-axis directions and Z collision in a Z-axis direction in an operation space of an XYZ-axis orthogonal coordinate system in which the Z-axis direction corresponds to a vertical direction.