| 摘要 |
PURPOSE:To quickly detect a collision of members by detecting an inversion of the sign of a speed deviation value or a torque command value. CONSTITUTION:A mechanism 13 of an industrial robot is composed of a servo motor 30, a reduction gear 31, a ball screw 32, a ball nut 33, and a handler 34 as a driven element. In a method of detecting a collision of the handle 34 with a foreign matter 35, when the collision is detected, a speed deviation value and a torque command value are reduced to become zero, it is then returned to zero. Therefore, the inversion of the signs of the deviation value and the command value are detected to detect the collision. |
