ROBOT SYSTEM

PROBLEM TO BE SOLVED: To achieve increased security of a robot operation, efficient use of a floor space in a factory or the like, and to achieve simplified facilities.SOLUTION: A process includes: defining, in a memory, arm-occupied regions including robot arms and a workpiece and a tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and a movable range of each robot axis; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop during execution of a command for moving the robot to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the coasting angles of the axes to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the positions of the robot axes are within the movable ranges; and performing control to cause the robot to stop moving immediately upon detection of abnormal condition.