| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of the conventional collision detecting method wherein it is difficult to reduce a collision torque detection error due to vibration of a speed reducer spring component, a collision detecting threshold has to be increased in order to prevent a mistake in collision detection when the operational frequency of a robot approaches the resonance frequency of the speed reducer spring component in torch lifting operation in starting arc for use in welding or weaving operation for vibrating the torch, and the sensitivity for detecting a collision is lowered in ordinary operation. SOLUTION: When a command acceleration of robot operation is larger than a predetermined value, the collision detecting threshold is increased, and it is held for a predetermined time to thereby cope with a phase lag or duration of vibration of the speed reducer spring component so that a mistake in collision detection can be prevented. COPYRIGHT: (C)2006,JPO&NCIPI
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