| 摘要 |
PROBLEM TO BE SOLVED: To inhibit vibration of a scalar arm in a telescopic direction and a vertical direction during extension or contraction.SOLUTION: A scalar arm has a motor for rotating a base end of a base arm, a middle arm with its base end attached rotatably to a front end of the base arm via joint, a transmission medium for transmitting rotation force of the motor to the middle arm, and a top plate attached rotatably to a front end of the middle arm via a joint. The scalar arm has a command generator which generates a command to the motor so that the base arm and the middle arm are rotated between a state where the front end of the base arm is pulled in to an opposite side of a transfer destination than the base end and a state where the front end is extended to a transfer destination side, and rotation speed of the base arm is reduced at least at a position where at least the base arm and the middle arm overlap. |
