| 摘要 |
PROBLEM TO BE SOLVED: To solve the inconveniences that when collision of a robot is detected based on a motor torque, a collision detection threshold value is set to a large value for a marginal tolerance or a frictional force estimating observer is added to a detected value, in a conventional robot control method, because a frictional torque in a dynamic model undergoes a large measurement error depending on individual differences and an environment; and to provide a collision detecting method according to which a collision detection threshold value is minutely set compared with a conventional method, and the responsiveness of the robot is excellent. SOLUTION: According to the present robot control method, the robot is controlled by adding an operating torque to a current command obtained by feedback control, and therefore the feedback current command is added to a collision detection threshold set value as a frictional error that cannot be sufficiently compensated by a dynamic torque, and a resultant value is applied to a collision detection threshold value. COPYRIGHT: (C)2006,JPO&NCIPI
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