JPH08229864A - Industrial robot collision detecting method and device thereof - Google Patents

Abstract

PURPOSE: To provide an industrial robot collision detecting method and a device thereof that can attain almost constant collision detecting sensitivity regardless of the action speed of an industrial robot. CONSTITUTION: The increment value DELPOS of the joint angle command value is multiplied by feedback gain KF by a multiplier 1 and passed through a first order lag filter 3 to obtain theoretical position deviation PoserrT. On the basis of this position deviation PoserrT, a threshold setting part 4 sets the upper limit value Ulimit and the lower limit value Llimit. A collision detecting part 5 judges whether or not the position deviation POSERR is out of the range of the upper limit value and lower limit value, and detects a collision in the case of being out of the range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot collision detection method and apparatus, and more specifically,
The present invention relates to a method and an apparatus for detecting a collision with an obstacle based on a position deviation of an industrial robot.

[0002]

2. Description of the Related Art Conventionally, as a control system for controlling an industrial robot, a control system (PID control system) having a configuration shown in FIG. 22 has been generally adopted. In this control system, the position deviation POSERR is obtained by calculating the difference between the position command value SRVREF and the current position value ACTPOS. Further, a current speed value ACTVEL is obtained by performing a differentiation process on the current position value ACTPOS, and a feedback speed value KF is obtained by multiplying by the feedback gain.
Get VEL. Then, the position deviation POSERR is set to the speed command value REQVEL, and the feedback speed value KFVE is set.
The velocity deviation VELERR is obtained by calculating the difference from L. A value obtained by multiplying the velocity deviation VELERR by a differential / integral gain and a value obtained by multiplying the proportional gain are added to obtain an operation command. In addition, in FIG. 22, s is a differential operator.

Here, the gains of the control system are the position proportional gain Kp (gain for setting the delay time of the position loop), the speed proportional gain Kv, and the speed integration time constant Tiv (mse.
c) It is set by the speed feedback gain Kvf, and specifically, each parameter shown in FIG. 22 is set as follows. KP = − (Kp · Kv) / 256 KI = −4 · Kv · KP · (Tsv / Tiv) KF = (256 · Kvf) / Kp where Tsv is the sampling time (mse) of the control system.
c).

By adopting such a control system, the industrial system is responsive to detecting that the position deviation or the speed deviation is out of a predetermined threshold range (abnormal position deviation or abnormal speed deviation). The robot detects when it collides with an obstacle.

[0005]

When such a collision detection based on the position deviation is performed, the influence of the delay of the position loop is affected when the motor of each axis of the industrial robot is rotating at the maximum speed. In response, for example, as shown in FIG.
A position deviation of 000 pulses (pulse for driving the motor) occurs. Therefore, it is necessary to set the threshold value for detecting the position deviation abnormality to at least about 10,000 pulses. If the threshold value is set in this way, it becomes difficult to detect the position deviation abnormality when the motor of each axis of the industrial robot is operating at a low speed because the position deviation is proportional to the speed.

In the case of performing such a collision detection based on the speed deviation, when the motors for the respective axes of the industrial robot are normally rotating at the maximum speed and the maximum acceleration, they are affected by inertia and the like, for example. As shown in FIG. 24, about 2000 pulses /
A velocity deviation of msec occurs. Therefore, the threshold value for detecting the speed deviation abnormality needs to be set to about 3000 to 4000 pulses / msec. Here, as is clear from the block diagram of FIG. 22, when the motor is stopped, the speed deviation and the position deviation are equal, so the detection sensitivity when detecting a speed deviation abnormality at low speed is Compared with the detection sensitivity when detecting deviation abnormality, theoretically, it is improved by more than twice.

However, the method of detecting the speed deviation abnormality is
Since the threshold for speed deviation when moving at maximum speed and maximum acceleration is set, speed deviation when moving at low speed and low acceleration is not taken into consideration at all, and detection sensitivity should be sufficiently increased. I can't. In other words, no matter which method is adopted, high-sensitivity collision detection can be achieved when the industrial robot is operating at high speed, but collision detection sensitivity can be achieved when operating at low speed. Will be significantly reduced. In other words, during low-speed operation, the time required from the actual collision to the collision detection becomes extremely long.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and a collision detection method for an industrial robot capable of achieving substantially constant collision detection sensitivity regardless of the operating speed of the industrial robot, and The purpose is to provide the device.

[0009]

According to a first aspect of the present invention, there is provided a collision detection method for an industrial robot, wherein a theoretical position deviation is calculated in real time based on a delay time of a control system of the industrial robot, and the actual position deviation is calculated. And the ratio is within a predetermined tolerance range, and the industrial robot collides with an obstacle in response to the difference or ratio being outside the predetermined tolerance range. It is a method of detecting that.

According to a second aspect of the industrial robot collision detection method of the present invention, the amplitude of the position deviation calculated based on the delay time of the control system of the industrial robot is finely adjusted, and also the phase is finely adjusted to theoretically. This is a method of calculating the position deviation in real time. The collision detection apparatus for an industrial robot according to claim 3, wherein the difference between the actual position deviation and the position deviation calculation means for calculating the theoretical position deviation in real time based on the delay time of the control system of the industrial robot, Alternatively, it is determined whether or not the ratio is within a predetermined allowable range, and it is detected that the industrial robot has collided with an obstacle in response to the difference or the ratio being outside the predetermined allowable range. And collision detection means.

According to another aspect of the collision detecting device for an industrial robot of the present invention, the positional deviation calculating means finely adjusts the amplitude of the positional deviation calculated based on the delay time of the control system of the industrial robot and also finely adjusts the phase. The one that is adjusted and the theoretical position deviation is calculated in real time is used.

[0012]

According to the collision detection method for the industrial robot of claim 1, the theoretical position deviation is calculated in real time based on the delay time of the control system of the industrial robot, and the difference from the actual position deviation, Alternatively, it is determined whether or not the ratio is within a predetermined allowable range, and it is detected that the industrial robot has collided with an obstacle in response to the difference or the ratio being outside the predetermined allowable range. Therefore, the threshold value is changed in accordance with the operation speed of the industrial robot, and collision detection (position deviation abnormality detection) can be performed based on this threshold value, depending on the operation speed of the industrial robot. It is possible to suppress a change in collision detection sensitivity.

According to the collision detection method of the industrial robot of claim 2, the theory is achieved by finely adjusting the amplitude of the position deviation calculated based on the delay time of the control system of the industrial robot and also finely adjusting the phase. Since the above position deviation is calculated in real time, the theoretical position deviation can be calculated accurately, which in turn can improve the collision detection sensitivity, and also the collision detection sensitivity due to the operating speed of the industrial robot. Variation can be suppressed.

According to another aspect of the collision detecting device for an industrial robot of the present invention, the theoretical position deviation is calculated in real time by the position deviation calculating means based on the delay time of the control system of the industrial robot, and the collision detecting means is used. Due to the difference from the actual position deviation,
Alternatively, it is determined whether or not the ratio is within a predetermined allowable range, and it is detected that the industrial robot has collided with an obstacle in response to the difference or the ratio being outside the predetermined allowable range. . Therefore, the threshold value is changed according to the operation speed of the industrial robot, and collision detection (position deviation abnormality detection) can be performed with reference to this threshold value.
It is possible to achieve almost constant collision detection sensitivity regardless of the operating speed of the industrial robot.

In the collision detecting device for an industrial robot according to claim 4, the position deviation calculating means finely adjusts the amplitude of the position deviation calculated on the basis of the delay time of the control system of the industrial robot, and adjusts the phase. Since it also employs the one that finely adjusts and calculates the theoretical position deviation in real time, the theoretical position deviation can be calculated accurately, which in turn enhances the collision detection sensitivity, It is possible to achieve almost constant collision detection sensitivity regardless of the operating speed of the robot.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings showing embodiments. FIG. 1 is a block diagram showing an embodiment of a collision detection device for an industrial robot according to the present invention. Although this collision detection device is applied to the control system having the configuration shown in FIG. 22, it goes without saying that it can be applied to the control system having a configuration other than that shown in FIG.

In FIG. 1, the increment value DE of the joint angle command value
The multiplier 1 multiplies LPOS by the feedback gain KF and supplies it to the first-order lag filter 3. The adder 2 adds the feedback gain KF to the phase fine adjustment signal and supplies the feedback gain KF to the first-order lag filter 3 to set the time constant of the first-order lag filter 3. Then, the output from the first-order lag filter 3 having the time constant set in this way is the theoretical position deviation Poserr.
T. By supplying this theoretical position deviation PoserT to the threshold value setting unit 4, the upper limit Uli of the position deviation can be obtained.
Obtain mit and lower bound Llimit. The actual position deviation POSERR and the upper limit Ulim are displayed in the collision detection unit 5.
By supplying it and the lower limit Llimit, it is determined whether the actual position deviation POSERR is outside the range between the upper limit and the lower limit, and it is determined that the actual position deviation POSERR is outside the above range. In response, it detects that the industrial robot is colliding with an obstacle.

Therefore, the above range fluctuates according to the operating speed of the industrial robot, and it is possible to achieve almost constant collision detection sensitivity regardless of the speed of the industrial robot. It will be described in more detail. The following equation is established in the control system of FIG. POSERR-KF · ACTVEL = VELERR Here, if the gain of the control system is sufficiently high and the influence of the disturbance is ignored, VEERR = 0 and Formula 1 holds.

[0019]

[Equation 1]

Further, from the control system of FIG. 22, since POSERR = SRVREF-ACTPOS, the following equation is established. SRVREF = ACTPOS + KF · ACTVEL Here, SRVREF (joint angle command value) is qd, and A
Let CTPOS (current value of joint angle) be q, and ACTVEL
If (joint angular velocity) is set to 2, the above equation is set to 3

[0021]

[Equation 2]

[0022]

(Equation 3)

The sampling time of the control system loop is Ts
Let v (msec) and Laplace transform both sides of Equation 3 into the following equation. However, S is a differential operator. Qd = Q + KF * Q * Tsv * s When this expression is rearranged, it becomes like the following expression. Q = {1 / (1 + KF · Tsv · s)} · Qd In this expression, when there is no influence of disturbance, the present value of the joint angle is the value obtained by passing the joint angle command value through the first-order lag filter of the time constant KF · Tsv. It indicates that they match. That is, if the position command value is passed through a first-order lag filter of the time constant KF · Tsv, the theoretical joint angle current value can be obtained. Further, since the position deviation is equal to the value obtained by multiplying the joint angular velocity by the feedback gain KF from Equation 1, the theoretical position deviation PoserT is calculated by multiplying the incremental value DELPOS of the joint angle command value by the feedback gain KF as shown in the following equation. This can be obtained by passing it through a first-order lag filter Lpf (). PoserrT = Lpf (KF · DELPOS) However, in reality, the influence of inertia and friction cannot be neglected. Therefore, the theoretical position can be adjusted by finely adjusting the time constant of the first-order lag filter 3 as shown in FIG. The deviation is made to approach the actual position deviation during normal operation.

The theoretical position deviation PoserrT thus obtained is, for example, as shown by the broken line in FIG. Note that FIG. 2 shows acceleration in one direction, constant speed operation, deceleration,
And reverse acceleration, constant speed operation, and deceleration.
The position deviation PoserT is also supplied to the threshold value setting unit 4. In the threshold value setting unit 4, the position deviation allowable pulse Offset in the stationary state and the allowable range Zone (%) of the ratio of the theoretical and actual position deviations are preset, and the following two equations are calculated. The upper limit Ulimit and the lower limit Llimit of the position deviation are calculated by. Ulimit = {(100 + Zone) / 100} · P
oserT + Offset Llimit = {(100-Zone) / 100} * P
The upper and lower limits calculated in this way are as shown by the solid lines in FIG. 2, and when the actual position deviation POSERR in the collision detection unit 5 is outside the range defined by the upper and lower limits. Detects when an industrial robot collides with an obstacle.

As is clear from the above, since the range defined by the upper and lower limits fluctuates according to the fluctuation of the speed, a substantially constant collision detection sensitivity is achieved regardless of the speed of the industrial robot. be able to. Specifically, O
Good collision detection could be achieved by setting ffset to 1000 pulses and Zone to 20%, respectively. According to this set value, the position deviation at which a collision can be detected when the speed is almost 0 is 1000 pulses, and a significantly higher collision detection sensitivity can be achieved as compared with the conventional method.

[0026]

[Specific example] A device with inertia attached to a motor with a brake is operated, and a pseudo collision is caused by operating the brake while the motor is rotating. At that time, the joint drive torque, position deviation, and brake differential position The time until the deviation abnormality was detected was observed. The stop torque of the brake is almost the same as the rated output torque of the motor. The joint drive torque software limiter was set to the same value as the motor rated output torque. Furthermore, the parameters of the control system are set to Kp: 270, Kv: 110, Tiv: 90, K.
It was set to vf: 39.

Then, the threshold value is set to 15000 pulses, and the rotation speed of the motor is set to 500, 1000, 2000,
The observation results when the position deviation abnormality is detected by setting it to 4000 (r.p.m.) are shown in FIGS. 3, 4, 5, and 6, respectively. In each figure, the upper side shows torque.
The lower side shows the position deviation, A shows the brake operation time, and B shows the position deviation abnormality detection time. The horizontal axis is the time axis.

As is apparent from these figures, the time required for detecting the position deviation abnormality is about 450 msec, about 230 msec, and about 120 ms as the rotation speed increases.
ec, it decreases to about 70 msec, and it can be seen that it has an inversely proportional relationship with the rotation speed. Therefore, it can be seen that the detection sensitivity of the position deviation abnormality decreases at low speed rotation. The threshold value is set to 4000 pulses / msec, and the rotation speed of the motor is set to 500, 1000, 2000, 4000 (rp.
m. 7), FIG. 8, FIG. 9, and FIG. 10 show the observation results when the position deviation abnormality is detected.
In each figure, the upper side shows torque, the lower side shows position deviation, A shows brake actuation time, and B shows position deviation abnormality detection time. The horizontal axis is the time axis.

As is apparent from these figures, the position deviation at the time of speed deviation abnormality detection becomes smaller as the rotation speed decreases. Especially, the rotation speed is 1000 r. p. m. In the following cases, the position deviation when the speed deviation abnormality is detected becomes the same as the speed deviation abnormality threshold value. Further, the time required for detecting the speed deviation abnormality is about 120 as the rotation speed increases.
msec, about 50msec, about 50msec, about 50m
It is sec. As compared with the cases of FIGS. 3, 4, 5, and 6, the rotation speed is 500 r.s. p. m. In the case of, the time required for the abnormality detection by the speed deviation is about 1/4 of the time required for the abnormality detection by the position deviation. Also, when performing abnormality detection due to speed deviation,
The rotation speed is 1000 r. p. m. If it is less than this, the time required for abnormality detection will be twice or more longer. In other words, the abnormality detection sensitivity becomes 1/2 or less.

Offset of 1000 pulses, Zone
Is set to 20% and the sampling time of the control system is set to 1 msec, and when the apparatus of FIG. 1 detects a position deviation abnormality, the time constant Terr (mse of the first-order lag filter 3 is
c) becomes about 37 msec. The rotation speed of the motor is set to 500, 1000, 2000, 4000 (rp.
m. 11), FIG. 12, FIG. 13, and FIG. 14 show the observation results when the position deviation abnormality is detected. In each figure, the upper side shows torque, the lower side shows position deviation, A shows brake actuation time, and B shows position deviation abnormality detection time. The horizontal axis is the time axis.

As is apparent from these figures, the position deviations at the time of abnormality detection with the increase of the rotation speed are about 2400 pulses, about 3600 pulses, about 6400 pulses, about 120.
00 pulse, the required time is about 90 msec,
It is about 60 msec, about 60 msec, and about 60 msec. Therefore, the rotation speed is 500 r. p. m.
In the case of, the abnormality detection required time is about 90 msec, which is about 1/5 of the case of FIG. 3 and about 3/4 of the case of FIG. Therefore, the abnormality detection sensitivity at low speed can be increased.

[0032]

[Embodiment 2] Even in the case of Embodiment 1, low speed (1000 r.p.m.
p. m. Since the abnormality detection sensitivity is less than about ⅔, it is more preferable to prevent such a decrease in the abnormality detection sensitivity. FIG. 15 is a block diagram showing only a main part of an apparatus for preventing such a decrease in abnormality detection sensitivity. It should be noted that the same components as those in FIG.

In FIG. 15, the increment value D of the joint angle command value
ELPOS is supplied to the multiplier 6 and is multiplied by a predetermined coefficient to finely adjust the amplitude, and the value whose amplitude is finely adjusted is supplied to the multiplier 1. Further, the output from the first-order lag filter 3 is supplied to the filter 7 for fine phase adjustment to obtain the theoretical position deviation PoserT and is supplied to the threshold value setting unit 4.

A more detailed description will be given. As shown in FIG. 16, the theoretical position deviation and the actual position deviation have different amplitudes and different phases. Then, since there is a difference in amplitude and a difference in phase, Off
It seems that set cannot be made too small. Therefore, the difference in amplitude is eliminated by supplying the increment value DELPOS to the multiplier 6.

Further, it is considered that the phase difference is caused by the fact that the position command value SRVREF of the control system is passed through a filter as shown in the following equation for smoothing. y [k] = {(2 ⁴ −1) y [k−1] + x [k]} / 2 ⁴ where x [k] is an input signal, y [k] is an output signal, and y
[K-1] is an output signal one sampling before.

Further, since the actual delay of the position loop is accompanied by a high-order delay, it is considered that the fine adjustment of the time constant of the first-order delay filter is not sufficient to eliminate the phase difference. To be Therefore, as the filter 7 for fine phase adjustment, a filter represented by the following equation based on the filter of the above equation is provided. y [k] = {(2 ⁹ −φ) y [k−1] + φ · x [k]} / 2 ⁹ However, φ is a parameter for fine adjustment of the time constant.

Therefore, by adopting the configuration of FIG. 15, the theoretical position deviation amplitude can be aligned with the actual position deviation amplitude, and the theoretical position deviation phase can be changed to the actual position deviation phase. The offset deviation can be reduced to increase the positional deviation abnormality detection sensitivity, and a substantially constant positional deviation abnormality detection sensitivity can be achieved regardless of the rotation speed.

The parameters of the control system are set in the same manner as in the above specific example, and the Offset is set to 400 pulses and the Zon is set.
The observation results when the position deviation is detected by setting e to 20% and changing the rotation speed in the same manner as in the above specific example are shown in FIGS. 17, 18, 19, and 20, respectively. In each figure, the upper side shows torque, the lower side shows position deviation, A shows brake actuation time, and B shows position deviation abnormality detection time. The horizontal axis is the time axis.

As is apparent from these figures, the positional deviations at the time of abnormality detection are about 2000 pulses, about 3200 pulses, about 6400 pulses, about 110 as the rotation speed increases.
00 pulses, the required time is about 60 msec,
It is about 50 msec, about 50 msec, and about 50 msec. Therefore, the rotation speed is 500 r. p. m.
In the case of, the abnormality detection required time is about 60 msec, which is about 1/8 of the case of FIG. 3 and about 1/2 of the case of FIG. Further, the time required for detecting the position deviation abnormality is almost constant regardless of the rotation speed.

[0040]

[Third Embodiment] FIG. 21 is a flow chart for explaining an embodiment of the collision detecting method of the present invention. In step SP1, theoretical position deviation is calculated, and then in step SP2
At step SP3, the theoretical position deviation phase is finely adjusted, at step SP3 the theoretical position deviation amplitude is finely adjusted, at step SP4 the upper limit value of the position deviation is calculated, and at step SP5 the position deviation lower limit is calculated. Calculate the value. Then, in step SP6, it is determined whether or not the position deviation exceeds the upper limit value. If not, in step SP7 it is determined whether or not the position deviation falls below the lower limit value. Then, if it is determined in step SP7 that the positional deviation is not below the lower limit value, it is detected in step SP8 that no collision has occurred, and the series of processes is ended. Conversely, step S
If it is determined in P6 that the position deviation exceeds the upper limit value, or if it is determined in step SP7 that the position deviation is below the lower limit value, it is detected in step SP9 that a collision has occurred, and necessary processing ( For example,
(Emergency stop, etc.) is performed, and the series of processing ends.

The process of the flowchart of FIG.
It is performed every sampling time. Therefore, also in the case of this embodiment, it is possible to increase the collision detection sensitivity (position deviation abnormality detection sensitivity) and to achieve a substantially constant collision detection sensitivity regardless of the rotation speed.

[0042]

According to the first aspect of the present invention, the threshold value is changed in accordance with the operating speed of the industrial robot, and collision detection (position deviation abnormality detection) can be performed based on this threshold value. The unique effect that the fluctuation of the collision detection sensitivity due to the operation speed can be suppressed is exhibited.

According to the second aspect of the present invention, the theoretical position deviation can be accurately calculated, the collision detection sensitivity can be enhanced, and the variation in the collision detection sensitivity due to the operating speed of the industrial robot can be suppressed. It has the unique effect of being able to. According to the invention of claim 3, the threshold value is changed corresponding to the operation speed of the industrial robot, and the collision detection (position deviation abnormality detection) can be performed based on the threshold value. The collision detection based on the operation speed of the industrial robot can be performed. It has a unique effect of suppressing fluctuations in sensitivity.

According to the fourth aspect of the present invention, the theoretical position deviation can be accurately calculated, and thus the collision detection sensitivity can be enhanced, and the variation in the collision detection sensitivity due to the operating speed of the industrial robot can be suppressed. It has the unique effect of being able to.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a collision detection device for an industrial robot according to the present invention.

FIG. 2 is a diagram showing a theoretical position deviation, an upper limit value, a lower limit value, and an actual position deviation.

FIG. 3 shows a rotation speed of 500 r. p. m. FIG. 6 is a diagram showing an abnormality detection result due to position deviation in the case of.

FIG. 4 shows a rotation speed of 1000 r. p. m. FIG. 6 is a diagram showing an abnormality detection result due to position deviation in the case of.

FIG. 5: The rotation speed is 2000 r. p. m. FIG. 6 is a diagram showing an abnormality detection result due to position deviation in the case of.

FIG. 6 shows a rotation speed of 4000 rpm. p. m. FIG. 6 is a diagram showing an abnormality detection result due to position deviation in the case of.

FIG. 7 shows a rotation speed of 500 r. p. m. FIG. 8 is a diagram showing an abnormality detection result due to speed deviation in the case of.

FIG. 8 shows a rotation speed of 1000 r. p. m. FIG. 8 is a diagram showing an abnormality detection result due to speed deviation in the case of.

9 is a rotation speed of 2000 r.p. p. m. FIG. 8 is a diagram showing an abnormality detection result due to speed deviation in the case of.

10 is a rotation speed of 4000 r. p. m. FIG. 8 is a diagram showing an abnormality detection result due to speed deviation in the case of.

11 is a rotation speed of 500 r. p. m. It is a figure which shows the abnormality detection result by the apparatus of FIG. 1 in the case of.

FIG. 12 shows a rotation speed of 1000 r. p. m. It is a figure which shows the abnormality detection result by the apparatus of FIG. 1 in the case of.

13 is a rotation speed of 2000 r. p. m. It is a figure which shows the abnormality detection result by the apparatus of FIG. 1 in the case of.

FIG. 14 shows a rotation speed of 4000 r. p. m. It is a figure which shows the abnormality detection result by the apparatus of FIG. 1 in the case of.

FIG. 15 is a block diagram showing another embodiment of the industrial robot collision detection device of the present invention.

FIG. 16 is a diagram illustrating a difference in amplitude and a difference in phase between a theoretical position deviation and an actual position deviation.

FIG. 17 shows a rotation speed of 500 r. p. m. 16 is a diagram showing an abnormality detection result by the device of FIG. 15 in the case of FIG.

FIG. 18 shows a rotation speed of 1000 r. p. m. 16 is a diagram showing an abnormality detection result by the device of FIG. 15 in the case of FIG.

FIG. 19 shows a rotation speed of 2000 rpm. p. m. 16 is a diagram showing an abnormality detection result by the device of FIG. 15 in the case of FIG.

FIG. 20 shows a rotation speed of 4000 rpm. p. m. 16 is a diagram showing an abnormality detection result by the device of FIG. 15 in the case of FIG.

FIG. 21 is a flow chart showing an embodiment of the industrial robot collision detection method of the present invention.

FIG. 22 is a block diagram showing an example of a configuration of a control system for controlling an industrial robot.

FIG. 23 is a diagram for explaining position deviation during operation of the industrial robot.

FIG. 24 is a diagram illustrating speed deviation during operation of the industrial robot.

[Description of Codes] 1,6 Multiplier 2 Adder 3 First-order lag filter 4 Threshold setting unit 5 Collision detecting unit 7 Phase fine adjustment filter

Claims (4)

[Claims] 1. A theoretical position deviation is calculated in real time based on a delay time of a control system of an industrial robot, and whether a difference or a ratio with the actual position deviation is within a predetermined allowable range. And detecting that the industrial robot has collided with an obstacle in response to the determination that the difference or ratio is outside a predetermined allowable range. 2. The fine adjustment of the amplitude of the position deviation calculated based on the delay time of the control system of the industrial robot,
The collision detection method for an industrial robot according to claim 1, wherein the theoretical position deviation is calculated in real time by finely adjusting the phase as well. 3. Position deviation calculating means (1) (2) (3) (6) (7) for calculating theoretical position deviation in real time based on the delay time of a control system of an industrial robot, and Position deviation, or whether the ratio is within a specified tolerance range, and the industrial robot responds to the difference or ratio being outside the specified tolerance range. A collision detection device for an industrial robot, comprising: collision detection means (4) (5) for detecting a collision with. 4. The position deviation calculation means (6) (7) finely adjusts the amplitude of the position deviation calculated based on the delay time of the control system of the industrial robot, and also finely adjusts the phase to theoretically 4. The collision detection device for an industrial robot according to claim 3, wherein the position deviation of is calculated in real time.