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US 5,719,479 AGranted
Collision detecting method
AssigneeFanuc Corporation
InventorsTetsuaki Kato, Soichi Arita, Ichiro Kanno
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Abstract
A collision detecting method, in which a collision of a driven body driven by a servomotor is detected by a disturbance estimating observer. The method obtains a disturbance component which can be known in advance, subtracts the disturbance component from an input torque to generate a modified torque, and inputs the modified torque to a distrubance estimating observer.
Claims6
A collision detecting method, in which a collision of a control object including a moving part and a servomotor is detected by a disturbance estimating observer, comprising the steps of:
- applying an input torque to the servomotor to drive the moving part and thereby produce disturbances in the control object;
- obtaining a disturbance component known in advance from said disturbances produced in the control object;
- subtracting said disturbance component from said input torque to generate a modified torque;
- and
- inputting said modified torque to the disturbance estimating observer which estimates only true indefinite disturbances to detect the collision of said moving part.
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Dependencies are inferred from the claim text.