A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained, and it is determined, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies a policy which restricts execution of the program.

A robot apparatus includes a manipulator, a teaching apparatus, and a control apparatus. The manipulator includes a hand and an arm having a plurality of joints. The teaching apparatus teaches operation of the manipulator. The control apparatus controls the manipulator based on a control signal from the teaching apparatus for causing the manipulator to operate in a predetermined operation direction. In a case where the predetermined operation direction has been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a regular speed. In a case where the predetermined operation direction has not been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a speed lower than or equal to a safety speed that is set based on the regular speed.

A robot apparatus includes a manipulator, a teaching apparatus, and a control apparatus. The manipulator includes a hand and an arm having a plurality of joints. The teaching apparatus teaches operation of the manipulator. The control apparatus controls the manipulator based on a control signal from the teaching apparatus for causing the manipulator to operate in a predetermined operation direction. In a case where the predetermined operation direction has been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a regular speed. In a case where the predetermined operation direction has not been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a speed lower than or equal to a safety speed that is set based on the regular speed.

A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained, and it is determined, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies a policy which restricts execution of the program.