| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system capable of specifying its collision place when collision is caused to a link existing between a shaft and a shaft arranged in a robot, and capable of enhancing detection sensitivity while restraining erroneous detection of collision.SOLUTION: A control part 26 extracts optional two detection object shafts mutually different in a sign of a disturbance load torque value as a collision determining shaft, and executes link collision detection control for detecting collision to a link of a robot on the basis of an absolute value of difference of the disturbance load torque value applied to these collision determining shafts. The absolute value of the difference becomes a very higher value than the disturbance load torque value respectively applied to the respective detection object shafts, since the absolute value of the difference becomes equal to a value of adding an absolute value of the disturbance load torque value applied to the optional two detection object shafts. |
