Abstract
This paper shows a collision relaxation control of a robot arm. The arm needs to keep touching to a moving object during collision relaxation control. Current robots do not have enough control performance to deal with a changing environment. So, robot cannot contact to a moving object and a person safely. This is one of the reasons that robot is considered to be danger. To secure safety in a changing environment, a robot control system with high collision relaxation performance was developed. As the first step of the study, the authors had experiments with the situation that a handcart comes to the robot arm and the robot arm stops the cart.
