| 摘要 |
PURPOSE:To obtain a protecting system of a manipulator which can protect a mechanical system such as a slave arm from an external force applied to the slave arm, so that it may not be broken down. CONSTITUTION:This system has a torque sensor Ta1 which detects a torque generated by an external force applied to a slave arm SA and outputs a detection signal and a compensation computing part Co which receives the detection signal as an input, computes a change rate thereof, compares this detection signal and the change rate thereof with the respective limit values thereof and outputs a stop command signal s when the detection signal or the change rate thereof exceeds the limit value, so as to stop driving a slave-side motor DMs. |
