A　new　type　of　robot　collision　detection　algorithm　was　proposed　for　the　security　problem　that　collision　may　occur　when　conventional　industrial　robots　operate　in　an　unknown　environment.　The　convolution　torque　observer　was　designed.　The　robot　collision　detection　was　realized　by　real-time　observation　of　the　deviation　between　the　joint　output　torque　and　the　dynamic　estimation　torque.　The　static　LuGre　model　was　used　to　compensate　the　joint　friction　in　order　to　avoid　the　interference　of　joint　friction　of　the　robot　in　different　poses　and　motion　states　on　robot　collision　detection.　By　monitoring　the　motion　of　actual　industrial　robots,　more　accurate　static　LuGre　model　parameters　were　identified.　The　collision　detection　algorithm　does　not　need　acceleration　information,　avoiding　the　calculation　error　caused　by　the　secondary　derivation　of　the　position　feedback　information.　The　joint　torque　was　acquired　based　on　the　current　information　of　the　joint　servo　drive.　It　is　not　necessary　to　install　a　special　force/torque　sensor.　Therefore,　in　the　case　of　conventional　industrial　robots　without　additional　configuration,　just　collect　the　robot　joint　drive　motor　current　and　position　information　to　achieve　collision　detection.　The　effectiveness　of　the　collision　detection　algorithm　is　verified　by　human-robot　interaction　experiments.　©　2019,　Zhejiang　University　Press.　All　right　reserved.