| 摘要 |
PROBLEM TO BE SOLVED: To attain satisfactory accuracy even in the case of using a speed reducer causing backlash, and to restrain consumption of extra energy. SOLUTION: This control device of a robot includes: a motor 11; an encoder 13 connected to a motor shaft 12; a speed reducer 14 connected to the motor shaft 12 to reduce the rotating speed of the motor shaft 12; a position detector 10 connected to a driving shaft 16 of the speed reducer 14; a driving frame 15 connected to the driving shaft 16; a torsion spring 18 provided between the speed reducer 14 and the driving frame 15 to apply external constraint force in the reverse direction to the rotating direction of the driving shaft 16 to the driving frame 15; a limiting pin 21 for limiting the load of external constraint force from the torsion spring 18 to the driving frame 15 when the direction of the driving frame 15 is within a predetermined range; and a motor control part 17 for controlling the rotation of the motor 11 based upon the output from the encoder 13 and the position detector 10. COPYRIGHT: (C)2007,JPO&INPIT
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