| 摘要 |
PCT No. PCT/JP89/00245 Sec. 371 Date Oct. 25, 1989 Sec. 102(e) Date Oct. 25, 1989 PCT Filed Mar. 7, 1989 PCT Pub. No. WO89/08538 PCT Pub. Date Sep. 21, 1989.A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value. When the torque command or velocity deviation becomes greater than the respective predetermined value, the collision detecting method determines that a collision of the robot operating part (13a) with a foreign object or the like has occurred, and the operation of the servomotor is stopped.
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