Patent ID: 6166504
Filing Date: 2000-12-26
Classification: B25J,G05B

Abstract:
A control apparatus for a robot having an arm, comprising:position detecting means for detecting a position of an arm every a predetermined observation time;speed detecting means for detecting an operation speed of the arm every the predetermined observation time;operation amount calculating means for calculating an operation amount of the arm from a start timing of deceleration to a stop timing of the arm when the arm operating at the operation speed detected by the speed detecting means is decelerated with a predetermined deceleration;judging means for judging whether a stop position of the arm exceeds a predetermined working area when the arm moves by the operation amount from the position detected by the position detecting means; andstop controlling means for stopping the arm with the predetermined deceleration when the judging means judges that the stop position of the arm exceeds the predetermined working area.