Robot and collision detection method therefor

Abstract

Provided is a robot including: a robot body that is provided with at least one arm; a gas spring that functions as a balancer for the arm of the robot body; an internal-pressure detecting unit that detects a cylinder internal pressure of the gas spring; and a control device that controls the robot body. The control device calculates, as an estimated disturbance value, the difference between a torque command value for a servomotor that drives the arm and a torque of the servomotor that is required to actually operate the arm, determines that the robot body has had a collision when the estimated disturbance value exceeds a predetermined threshold, and corrects the estimated disturbance value or the threshold on the basis of the cylinder internal pressure detected by the internal-pressure detecting unit.

Dependencies are inferred from the claim text.