| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision detection device capable of detecting a collision with high sensivity even in a case of a robot arm and the like, in which the stiffness of a speed reducer is low. SOLUTION: In a robot control device driving its joint using each servo motor 2 by way of each speed reducer 7, the device is equipped with a control means 1 controlling each servo motor 2, a condition estimation observer operation means 4 estimating disturbance force acting on a robot arm 3 side from the side of each speed reducer 7 by using a model in which the spring element of the speed reducer is taken into consideration, based on a torque commanding value to the servo motor 2 within the control means 1 and the position of the servo motor 2, a collision judgement means 5 judging the occurrence of a collision against an external environment by monitoring the estimation value computed by the condition estimation observer operation means 4, and with a device protecting means 6 making change-over for the operation condition of the servo motor 2 forcibly in such a way that the operation of the robot arm 3 will not be continued as is when a collision is found to have occurred.
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