Patent ID: 11878429
Assignee: KABUSHIKI KAISHA YASKAWA DENKI
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. A robot control apparatus comprising:
a drive controller configured to control a plurality of motors which are configured to drive a plurality of link mechanisms of a parallel link robot, respectively;
abnormality determination circuitry configured to determine based on state data of the plurality of motors whether collision between the parallel link robot and an object outside of the parallel link robot occurs; and
encoder units configured to detect positions of rotors of the plurality of motors,
wherein the abnormality determination circuitry is configured to determine whether the collision occurs by comparing an external force acting on the plurality of link mechanisms with a threshold value, the external force is estimated based on:
the state data including torque commands output by the drive controller to the plurality of motors; and
detected positions of the plurality of motors detected by the encoder units.