| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which can reliably prevent deterioration in service life of an end effector motor and excess heating of the area around the motor caused by excessive heat generation of the motor.SOLUTION: A robot comprises: an arm to which an end effector for holding an object is attached; detection means which detects weight of the object; current adjusting means which adjusts supply current supplied to the end effector; memory means in which information on a tendency of temperature rise is stored when a motor temperature of the end effector is raised in a state that the supply current is supplied at a current value (α); and control means which obtains arrival timing when the motor temperature arrives at a threshold value in a state of being energized by the current value (α), set in advance based on the information. The control means performs control to adjust, before the arrival timing, the supply current to a current value (&bgr;) lower than the current value (α) by the use of the current adjusting means to supply the motor with current of the current value (&bgr;). |
