| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control system, capable of reducing a damage by collision even in case of collision of a robot with a work object in manual operation for correcting the position/attitude of a teaching point. SOLUTION: The robot control system 3 comprises a proximity distance calculation part 11 for calculating a proximity distance between the robot 4 and the work object based on characteristic points preset on a link of a robot body and on a work tool and a reference point set for expressing the position coordinate of the characteristic point; and a collision detection part 14 for detecting collision of the robot 4 with the work object. The collision detection part 14 determines a threshold for detecting collision based on the proximity distance, and calculates a difference between a torque value to be generated by a servo motor 18 and a torque generated in the servo motor 18. The collision detection part 14 compares the difference in torque value with the threshold, and detects the collision of the robot 4 with the work object according to the comparison result. COPYRIGHT: (C)2007,JPO&INPIT
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