ROBOT CONTROLLER AND METHOD FOR CONTROLLING THE SAME

摘要

PROBLEM TO BE SOLVED: To solve the problem of a conventional robot collision discremination based on turbulence torque in which a high threshold value is set considering beforehand the maximum amount of gravitational torque and the inertial forces of other axes or the like, because a robot is influenced by gravitational force affected by the change of its attitude, to add the gravitational torque component to motor torque, or it is influenced by the inertial forces of the other axes when operating at high speeds, to increase turbulence torque. SOLUTION: A filter part for cutting the gravitational force component out of the turbulence torque calculated by a turbulence detector is provided downstream the turbulence detector. And a threshold changing means is provided for changing a threshold value for the discrimination of collision in accordance with the operating speed of the robot.