Patent ID: 9682478
Date: 2017-06-20
CPC Classifications: B25J,G05B

Claim:
1. A safety monitoring method for monitoring a robot provided with a force detection unit for detecting an external force acting on the robot, the robot safety monitoring method comprising: utilizing a safety monitoring device comprising: switching the workpiece parameter including at least one of the mass, the center of mass, and the inertia matrix of the workpiece to be gripped by the robot; estimating, as the external force estimation value, the force or the torque acting on the robot from the external environment by using the switched a workpiece parameter; stopping the robot when the external force estimation value satisfies the external force determination condition; stopping the robot when at least one of the following conditions is not satisfied: the position of the robot is included within the predetermined region,the moving direction of the robot is the determined direction, the operation speed of the robot is equal to or slower than the predetermined speed, and the operation acceleration of the robot is equal to or smaller than the predetermined acceleration; switching between the operation monitoring disabling command and the operation monitoring enabling command; switching the external force determination condition to the operation monitoring disabling time external force determination condition when the operation monitoring state switching unit is switched to the operation monitoring disabling command; and switching the external force determination condition to the operation monitoring enabling time external force determination condition when the operation monitoring state switching unit is switched to the operation monitoring enabling command.