| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device and a reduction gear state detection method of a multi-joint robot capable of accurately determining a state of a reduction gear of the multi-joint robot in a short time.SOLUTION: A robot device includes: a multi-joint robot 100 which includes in at least one part a joint 112 having a servo motor 1, a wave gear reducer 11 connected to the servo motor 1, an input side encoder 10 capable of detecting a rotation angle of a rotation shaft 2 of the servo motor 1, and an output side encoder 16 capable of detecting a rotation angle on the output side of the wave gear reducer 11; and a control unit 200 which acquires the state of the wave gear reducer 11 on the basis of the angular difference between the rotation angle on the input side detected by the input side encoder 10 and the rotation angle on the output side detected by the output side encoder 16. |
