| 摘要 |
The present invention allows a joint driving apparatus (71-76) of a robot apparatus (1) to measure joint driving torque with high accuracy and perform joint torque control accurately and reliably using a simple, inexpensive, small, lightweight and sturdy configuration without being affected by cross-axis disturbance forces. A joint driving apparatus includes a housing unit (55) fixed to a first link (62); a bearing (54) mounted in the housing unit (55) and adapted to rotatably support a second link (63); a driving unit (80) housed in the housing unit (55) and adapted to rotationally drive the second link (63); a supporting unit (532, 56, 52) installed between the driving unit (80) and the housing unit (55) and adapted to support the driving unit (80) on the housing unit (55); and a torque sensor (52s) adapted to detect torque generated on the supporting unit (532, 56, 52) . |
