Patent ID: 9527210
Filing Date: 2016-12-27
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A robot apparatus comprising: a manipulator including an arm and a hand; a teaching apparatus provided with a touch panel or a button; and a control apparatus configured to control the manipulator by transmitting, based on a manipulation performed on the touch panel or the button of the teaching apparatus, a control signal to the manipulator, wherein, based on the manipulation performed on the touch panel or the button of the teaching apparatus, the control apparatus transmits, to the manipulator, a control signal for switching an operation speed of the manipulator from a regular speed, which is a speed in a regular operation status to a speed lower than or equal to a safety speed, which is a speed in an erroneous manipulation avoiding status, wherein transition from the erroneous manipulation avoiding status to the regular operation status is performed based on an actual performance in which the manipulator is operated for a preset time or longer, is performed based on an actual performance in which the manipulator is operated by a preset distance or farther, or is performed by selecting a coordinate serving as a reference for an operation direction of the robot apparatus.