| 主权项 |
1. An external force judgment method for judging a presence or absence of an external force acting on a robot including a first member and a second member movably connected to the first member through a deceleration mechanism, the method comprising:
a reference value acquisition step of acquiring a reference value of a relative position or angle of the second member with respect to the first member when the robot on which no external force is acting or on which a known external force is acting is assumed to be operated or is operated by a predetermined command in advance; a measured value acquisition step of acquiring a measured value of a relative position or angle of the second member with respect to the first member when the robot is operated by the predetermined command, wherein, one of a detection unit and a detected unit paired with the detection unit is arranged on the first member or a part not relatively moving with respect to the first member, whereas another of the detection unit and the detected unit is arranged on the second member or a part not relatively moving with respect to the second member, and a value detected by the detection unit is the measured value; and a judgment step of judging the presence or absence of an external force acting on the robot based on a difference between the reference value acquired by the reference value acquisition step and the measured value acquired by the measured value acquisition step and a predetermined threshold value. |
