US 12,403,603 B2
Control device and control method
Xiaoguang Ning, Kyoto (JP); Shigeki Sugano, Tokyo (JP); Tomohiro Wada, Tokyo (JP); and Yoshihiro Sakamoto, Tokyo (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Appl. No. 18/015,539
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Mar. 5, 2021, PCT No. PCT/JP2021/008768
§ 371(c)(1), (2) Date Jan. 11, 2023,
PCT Pub. No. WO2022/044389, PCT Pub. Date Mar. 3, 2022.
Claims priority of application No. 2020-143876 (JP), filed on Aug. 27, 2020.
Prior Publication US 2023/0256605 A1, Aug. 17, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/1676 (2013.01) [B25J 9/1651 (2013.01); G05B 19/4155 (2013.01); G05B 2219/50391 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A control device for controlling an operation speed of a robot that moves an article, the control device comprising:
a prediction unit predicting contact from a position of the robot and a position of a person or an object; and
an acceleration change unit changing an acceleration of a deceleration of the robot for performing an emergency stop according to whether the article is gripped by the robot, when contact is predicted by the prediction unit,
the acceleration change unit sets a deceleration start timing earlier when the article is present than when the article is absent.