Robot, control device and control method

A control device configured to control drive of a robot including a robot main body having a platform and a robot arm displaced with respect to the platform, a vibration sensor provided to the robot main body to detect a vibration of the robot main body, and a collision detection section configured to detect a collision between the robot main body and a physical object based on an output from the vibration sensor, wherein

• the collision detection section includes
• a first detection section configured to detect the collision based on a vibration signal output from the vibration sensor, and
• a second detection section configured to detect the collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal, and
• the control device makes a drive limitation provided to the robot main body different between when the first detection section has detected the collision and when the second detection section has detected the collision.

A method of controlling drive of a robot including a robot main body having a platform and a robot arm displaced with respect to the platform, and a vibration sensor provided to the robot main body to detect a vibration of the robot main body, the method comprising:

• detecting a first collision based on a vibration signal output from the vibration sensor;
• detecting a second collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal;
• and
• making a drive limitation provided to the robot main body different between when the first collision has been detected and when the second collision has been detected.