CRASH DETECTING DEVICE OF ROBOT POSITION SERVO SYSTEM

摘要

PURPOSE: A crash detecting device of a robot position servo system is provided to stop the movement of a robot by quickly detecting when the robot crashes with an obstacle. CONSTITUTION: The crash detecting device of the robot position servo system comprises:an upper control unit(200); plural addition units(210,230); a speed yield unit(220); a speed control unit(240); a torque generating unit(250) of a motor; a torque addition unit(260); a speed generating unit(270) of the motor; a position moving unit(280) of the motor; a crash detecting device(300); the upper control unit(200) to output a position command to control the position of the robot according to a key input and a program, and to output a position command to stop the robot by accepting the feedback of the rotating shaft angle position of the motor when the crash signal is inputted from the crash detecting device(300).