ABNORMAL LOAD DETECTING/CONTROLLING METHOD FOR SERVO MOTOR AND MULTI-JOINT ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a method for avoiding abnormal load by departing from an obstacle when a servo motor or a multi-joint robot having a servo motor touches the obstacle and detects an abnormal load. SOLUTION: A disturbance torque applied to a servo motor 1 is estimated using a disturbance estimating observer and an abnormal load is detected when an estimated value of disturbance exceeds a set reference level Ls. Subsequently, a torque command Tq of specified magnitude is provided to the servo motor 1 for a specified time Tm in the direction reverse to the rotational direction of the servo motor 1 immediately before the abnormal load is detected.