This　paper　presents　a　collision　detection　algorithm　based　on　generalized　momentum　to　improve　the　safety　reaction　of　robots.　According　to　the　decoupling　performance　of　generalized　momentum　and　external　torque　of　the　manipulator,　the　impact　force　can　be　obtained　which　determine　the　position　where　collision　occurred.　In　this　paper,　a　performance-regulating　function　is　introduced　to　improve　the　dynamic　response　characteristics　of　the　algorithm.　The　algorithm　can　effectively　depress　the　influence　of　acceleration　and　deceleration　process.　Moreover,　it　exhibits　good　real-time　performance,　and　satisfies　the　expected　requirements.　The　algorithm　provides　an　approximate　position　and　direction　of　the　impact　force,　which　are　important　for　further　security　reaction　control.　©　2015　IEEE.