Patent ID: 7023164

Claim:
A robot having a plurality of movable joint sections, the robot comprising: a drive power source for driving the robot; a plurality of actuators adapted to operate by the supply current from the drive power source for respectively driving the plurality of movable joint sections; monitoring means for monitoring the output of the drive power source or the electric current supplied to different sections in the robot; power source abnormality detecting means for detecting any of a plurality of power source abnormal conditions according to the output of the power source as monitored by the monitoring means; and operation control means for conducting a protective operation corresponding to the power source abnormal condition detected by the power source abnormality detecting means, wherein the power source abnormality detecting means detects a light over-current state when a condition where the electric current being supplied to the different sections in the robot is higher than a first threshold value but lower than a second threshold value continues for more than a predetermined period of time; and wherein the operation control means carries out a predetermined shutdown operation and then suspends the operation of the drive power source in response to the light over-current state.