METHOD OF DETECTING COLLISION OF MOVING PORTIONS DRIVEN BY SERVO MOTOR.

摘要

A method of quickly detecting collision of a robot's moving portion, such as an arm driven by a servo motor with an external object in order to prevent or reduce damage of the machine caused by collision. A digital signal processor of an axis controller (2) which constitutes a software servo calculates a speed instruction and a torque instruction based on a movement instruction from a main computer (1) to periodically execute servo control for the axis of the robot, and further determines whether the torque instruction or a speed deviation between the speed instruction and the actual speed of the servo motor (13b) is greater than a predetermined value or not. When the torque instruction or the speed deviation is greater than the predetermined value, it is determined that the robot's moving portion (13a) has come into collision with an external object, and the servo motor is stopped.