Robot collision detection method and system and response method

The invention discloses a robot collision detection method and system and a response method, and the detection method comprises the steps: building a robot kinetic equation through the virtual work principle in combination with the body structure parameters of a robot and the inertia and gravity center of each part; according to the robot kinetic equation and the position, speed and acceleration data of the robot joint working path points, joint driving torque is obtained; an extended state observer based on generalized momentum is constructed through a robot kinetic equation, and the joint disturbance torque of a robot system is obtained through the extended state observer; and a disturbance torque threshold value is set, and when the obtained joint disturbance torque exceeds the threshold value range, it is judged that the robot collides with the outside world. According to the method, no extra sensor needs to be used, only the robot body sensor needs to be used, the collision threshold value is set, collis