| 摘要 |
PROBLEM TO BE SOLVED: To provide an external force determining method capable of accurately determining the presence/absence of external force applied on a robot.SOLUTION: An external force determining method which determines the presence/absence of external force applied on a robot 100 having a first member 2 and a second member 3 movably coupled to the first member 2 through a deceleration mechanism 13, includes: a reference value obtaining step for obtaining a reference value α of a relative position or an angle of the second member 3 to the first member 2, when the external force is not applied, or when it is KATEI that the robot 100 on which known external force is applied is operated by a predetermined command, when the robot 100 is actually operated; an actual value obtaining step for obtaining an actual value &bgr; of the relative position or the angle of the second member 3 to the first member 2, when the robot 100 is operated by the predetermined command; and a determining step for determining the presence/absence of the external force applied on the robot 100 on the basis of difference γ between the reference value α and the actual value &bgr;, and a predetermined threshold value γs. |
