| 摘要 |
PURPOSE: To avoid or relax a collision by providing a force detector for detecting the contact force of the other member to one member, an arithmetic means for computing the force product value on the basis of the force value detected by the force detector, and a control means for controlling the movement of the other member by the force product value obtained by the arithmetic means. CONSTITUTION: The product of force at the time of a collision is predictively computed from the relative speed Vs between members A, B detected by a relative speed detecting device and the mass m1, m2 of both members A, B and the coefficient of rebound (e) between both members A, B stored in a storage device. The grade of impact is obtained using the predicted force product value as a judgment reference, and according to the grade of impact, the result is transmitted to an operator through a display device. Or the control parameter of movement control is changed so as to avoid or relax impact. The safety of operation and workability is thereby improved. |
