Drive-controlling method and apparatus and robot having the apparatus

摘要

Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.