| 摘要 |
Supposing that step-out occurs in a stepping motor, in order to provide a suitable response when the step-out has occurred, this robot device is provided with: a robot arm mechanism which has a joint; a stepping motor (310) which generates power for actuating the joint; a motor driver (210) which drives the stepping motor; a trajectory calculation unit (105) which calculates the trajectory along which a point of interest on the robot arm mechanism moves from the current position to a final target position; a command value output unit (103) which outputs to the motor driver a command value that depends on the trajectory calculated by the trajectory calculation unit; and a step-out detection unit (216) which detects step-out of the stepping motor. Further, this robot device is provided with a system control unit (101). When a step-out is detected, the system control unit controls the trajectory calculation unit and the command value calculation unit such that the trajectory of the position of the point of interest to the final target position, which shifts due to the step-out, is re-calculated and the point of interest is moved along the re-calculated trajectory. |
