DEVICE AND METHOD FOR CONTROLLING JOINT MECHANISM, JOINT DEVICE, ROBOT DEVICE, AND METHOD FOR CONTROLLING ROBOT DEVICE

摘要

A joint mechanism control device and method, and a robot device and its control method include: electric current detection means for detecting an electric current value of the drive current applied to an actuator for driving a joint mechanism; and external force torque detection means for detecting the level of the torque by an external force applied to the output axis of the actuator based on the electric current value detected by the electric current detection means. In addition, a joint device and the robot device include: motor unit for generating the rotation torque for the actuator; and motor control means, provided in the motor unit, for controlling the drive of the motor unit.