| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique of a robot having high safety against contact and collision with a person and a surrounding object. SOLUTION: A safety device of a mobile robot capable of performing rotary moving and linear moving is provided with an arm 101 having a multi-joint structure in which a shaft torque detecting sensor for detecting torque in an output shaft from an actuator for driving a joint is incorporated into each joint and a control part 105 deciding whether or not the arm contacts or collides with the surrounding based on a change of an output from each shaft torque detecting sensor and controlling an operation of each part based on the decision result. The arm 101 is provided with functions as a contact/collision detection device with the surrounding. COPYRIGHT: (C)2009,JPO&INPIT
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