| 摘要 |
PROBLEM TO BE SOLVED: To quickly and stably detect a collision of a driven body driven by a motor, such as a robot, with the outside. SOLUTION: A collision detection device 16 comprises a disturbance calculation unit 12 for calculating a disturbance applied to a motor or driven body, an absolute value calculation unit 24 for calculating the absolute value Ad of the disturbance d calculated by the disturbance calculation unit 12, and a controller 1 for comparing the absolute value Ad calculated by the absolute value calculation unit 24 with a threshold to determine a collision. COPYRIGHT: (C)2005,JPO&NCIPI
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