| 摘要 |
PROBLEM TO BE SOLVED: To provide an angle detection method capable of achieving control for positioning an output shaft with high accuracy and twist feedback control using an input shaft encoder and an output shaft encoder, and an angle detector capable of performing the angle detection method.SOLUTION: The robot arm constituted of an input shaft encoder, an output shaft encoder, a motor and a reduction gear, etc., corrects the detection error of the output shaft encoder on the basis of rotational position information using the rotational periodicity of the input shaft encoder. The control for positioning the output shaft with high accuracy and the twist feedback control can be achieved by correcting the detection error of the input and output shaft encoders. |
