The present invention is directed to a method for mitigation of the damages in case of accidental collisions in a machine tool comprising a computer numerical control (CNC) and a plurality of axes, wherein the occurrence of collisions is monitored, comprises: identifying a first axis being an axis at which a collision is first detected, identifying a second axis being an axis parallel to said first axis, and determining if both or one or none of the axes are resting. If both are resting unlocking the first axis or both axes. If the first axis or second axis is not resting, then the moving axis is defined as the collider, and said moving axis is braked, and simultaneously the resting axis is unlocked or stepped away or held in position. If both axes are moving, defining a collider axis based on said identified first axis at which a collision has been first detected, braking said collider axis and simultaneously unlocking or stepping away the axis parallel to said collider axis.

The present invention is directed to a method for mitigation of the damages in case of accidental collisions in a machine tool comprising a computer numerical control (CNC) and a plurality of axes, wherein the occurrence of collisions is monitored, comprises: identifying a first axis being an axis at which a collision is first detected, identifying a second axis being an axis parallel to said first axis, and determining if both or one or none of the axes are resting. If both are resting unlocking the first axis or both axes. If the first axis or second axis is not resting, then the moving axis is defined as the collider, and said moving axis is braked, and simultaneously the resting axis is unlocked or stepped away or held in position. If both axes are moving, defining a collider axis based on said identified first axis at which a collision has been first detected, braking said collider axis and simultaneously unlocking or stepping away the axis parallel to said collider axis.

A method for detecting a collision of a robot arm with an object and a correspondingly configured robot. The robot arm is a part of the robot and includes a plurality of serially arranged links mounted relative to respective axes, and position sensors allocated to the individual axes are provided for determining the poses of any two adjacent links relative to one another. The robot further includes an electronic control device connected to the positioning devices, and actuators controlled by the electronic control device for automatically moving the links. The method includes evaluating whether at least one invariant for a target movement of the robot arm is satisfied by an actual movement of the robot arm and, when the evaluation results in a non-satisfaction of the at least one invariant, then indicating a collision of the robot arm with the object and initiating a safety function of the robot.