| 摘要 |
A robot apparatus determines a reactive force of a wire member by a sensor, used for the transmission of a driving signal between the robot apparatus and a joint (or end effector). The robot apparatus includes: a plurality of links which constitute a robot arm; rotational joints which connect each of the links to each other; a motor which drives each of the rotational joints; and a cable as a wire member, which is arranged along each link and transmits a driving signal at least to a driving source. A controlling apparatus drives and controls the motor which drives the rotational joints, based on a value of a reactive force, which a cable reactive force measuring unit outputs, which measures the reactive force to be applied to a joint portion when the cable is deformed. |
| 主权项 |
1. A robot apparatus provided with a plurality of links which constitute a robot arm, a joint which connect the links to each other, a driving source which drives the joint, a wire member which is arranged along the link and transmits a driving signal at least to the driving source, and a controlling apparatus which controls the driving source, comprising a sensor for determining a reactive force to be applied to the joint by the wire member when the wire member is deformed, wherein
the controlling apparatus drives and controls the driving source which drives the joint, based on a value of the reactive force, which the sensor outputs. |
