| 摘要 |
PROBLEM TO BE SOLVED: To measure an impact due to a collision with other object caused by a robot arm R swung at a larger torque than in a normal case by a drive source for driving a joint portion when an erroneous operation occurs, at a low cost without need for complicated control. SOLUTION: In a method for measuring the impact of the robot arm, the robot arm R is held with a braking torque applied to a joint portion Ra of a base end thereof by a torque limiter 4. The braking torque is made equal to a torque applied to the joint portion Ra by the drive source. A weight body 14 is brought into collision with the robot arm R at such a velocity that a larger torque than the braking torque works on the joint portion Ra to measure an impact with a detector 15 such as an acceleration sensor. COPYRIGHT: (C)2009,JPO&INPIT
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