| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus and a method for controlling a robot, which make an interference and collision detecting function ineffective, when the erroneous detection of a collision occurs, an interference occurs after correction of a track, and so on, but make a collision detecting function effective in other cases and thus have high safety. SOLUTION: The apparatus for controlling the robot is composed of a position control section 10 for calculating a speed command based on a position command, a speed control section 11 for calculating a torque command based on the speed command, and a motor 12 for controlling the robot by being driven based on the torque command. The apparatus for controlling the robot further comprises a model control section 14 for estimating a disturbance based on the torque command and the position of the motor 12, a collision detecting section 16 for detecting the collision by comparing the disturbance with a predetermined reference value, and a collision detection selecting section 15 for making the collision detecting section 16 effective or ineffective. COPYRIGHT: (C)2005,JPO&NCIPI
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