Patent ID: 7852030

Claim:
A controller for controlling a robot body with a joint drivable by a servomotor installed in the robot body, the servomotor being mechanically braked by a power-off brake installed in the robot body when the servomotor is deenergized, the controller comprising: a first switch unit configured to establish electrical connection between the power-off brake and a power source therefor when the servomotor is energized, the established electrical connection between the power-off brake and the power source causing the power-off brake to be released; a second switch unit manually operable and provided between the power-off brake and the power source, the second switch unit establishing electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized; a calculating unit configured to calculate a driving speed of the joint by the servomotor; a determining unit configured to determine whether the calculated driving speed of the joint is greater than a predetermined threshold speed; and an interrupting unit configured to interrupt a supply of an electrical power from the power source to the power-off brake through the electrical connection established by the second switch unit when it is determined that the calculated driving speed of the joint is greater than the predetermined threshold speed.