| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot capable of preventing generation of the second collision if collision occurs. SOLUTION: Disturbance torque applied to the servomotors of respective shafts of a robot is estimated by a disturbance estimating observer. When a robot arm 22 is driven in the direction of an arrow (a) as shown in a diagram (a), and a hand 21 collides with an obstacle 20, an estimated value estimated by the disturbance estimating observer exceeds a set threshold value to detect collision. Thus, the arm 22 is controlled for drive by setting speed command to a motor Ma to 'zeto'. The motor driving the hand 21 is driven for a prescribed period of time by set torque (maximum torque) having the same sign as that of the estimated value (see Figure (c)), and emergently-stopped. The hand 21 is driven in such a direction that it leaves the obstacle 20 after the collision, thus it is possible to prevent generation of the second collision and prevent robot parts, the hand, and the obstacle from being damaged by collision.
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