| 摘要 |
PROBLEM TO BE SOLVED: To measure reaction force of a wire used for transmission of a driving signal to a joint (or an end effector) of a robot device and perform robot control with high accuracy using the measurement value.SOLUTION: A robot device includes: a plurality of links 10-60 configuring a robot arm 1; rotary joints 11-61 for mutually connecting each link; a motor (92) for driving each rotary joint; and a cable 80 as a wire disposed along each link so as to transmit a driving signal to at least a driving source. A control device 91 performs driving control of the motor (92) for driving the rotary joints 11-61 on the basis of a reaction force value output by a cable reaction force measurement section 932 (931-936) for measuring reaction force applied to the joint sections during deformation of the cable 80.SELECTED DRAWING: Figure 1 |
