A numerical controller for moving a movable object by axis control includes a distance determination unit for setting at least one of a feed speed or an in-position width in accordance with a distance between an interference area where entry of the movable object is prohibited and the movable object. According to this configuration, a numerical controller capable of controlling a speed in consideration of an interference area is provided.

Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

A control device of a robot system includes a position recording section that records a stopping position of a robot when the robot has been stopped by a stopping section, and a position distribution generation section that generates a distribution of the stopping positions of the robot recorded by the position recording section. The control device further includes a speed changing section that automatically changes an operating speed of the robot in accordance with the generated stopping position distribution of the robot.

In various embodiments, safe robot operation is achieved by combining commercial, off-the-shelf, safety-rated components with the inherent safety-design mechanism of the robot to provide various allowable power levels to robotic actuators and thereby limit the forces and/or speeds generated by robotic appendages driven by the actuators.

A method for monitoring a robot includes monitoring a safety condition and operating the robot in a limitation operating mode for as long as the monitored safety condition is not fulfilled. A deceleration of the robot is commanded and monitored in the limitation operating mode for as long as the robot exceeds a velocity limit.

Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

In various embodiments, safe robot operation is achieved by combining commercial, off-the-shelf, safety-rated components with the inherent safety-design mechanism of the robot to provide various allowable power levels to robotic actuators and thereby limit the forces and/or speeds generated by robotic appendages driven by the actuators.

A mobile robot and a safety control system therefor. The safety control system includes a first monitoring circuit to movement data of the mobile robot; a second monitoring circuit to monitor whether the mobile robot collides with an obstacle; a third monitoring circuit to monitor whether an obstacle exists within a preset range of the mobile robot; a safety control circuit to generate a first safety instruction based on the movement data, a second safety instruction based on the collision signal, a third safety instruction based on the alarm signal, and a fourth safety instruction based on state information of the safety input device; a servo circuit to receive and execute a corresponding safety instruction; and a main control board to output a drive control signal to the servo circuit, for causing the servo circuit to control a motor of the mobile robot based on the drive control signal.

A control device of a robot system includes a position recording section that records a stopping position of a robot when the robot has been stopped by a stopping section, and a position distribution generation section that generates a distribution of the stopping positions of the robot recorded by the position recording section. The control device further includes a speed changing section that automatically changes an operating speed of the robot in accordance with the generated stopping position distribution of the robot.

Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.