| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device for comparing with sensor detection data or a reference at an actual operation time so that a reliable failure determination is performed from the difference of the detection data.SOLUTION: A robot device, in which an arm is rotatably or linearly movably connected by a coupling device including an actuator, comprises: an inertia sensor attached to the arm; a first operation part for calculating the angular velocity and the angular acceleration of the actuator from the rotational angle data from an angle sensor included in the actuator; a second operation part for calculating the angular velocity or angular acceleration of the arm from the output detected by the inertia sensor; and a comparator for comparing the angular velocity or angular acceleration calculated by the first operation part and the angular velocity or angular acceleration calculated by the second operation part. In the case where the absolute value of the difference between the angular velocities or the angular accelerations of the actuator and the arm is larger than a threshold value, it is decided that the inertia sensor fails. |
