| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for controlling a rotary power source which can stop the operation of an arm without causing a motor, the arm and a connection part to be damaged when a collision between the arm and certain obstacles is detected during movement of the arm, and to provide an apparatus for controlling a rotary power source. <P>SOLUTION: The apparatus for controlling a rotary power source includes: a first rotary shaft to which rotary power is transmitted from a power unit, and which is moved; a second rotary shaft for serving as a rotary shaft that extracts the rotary power from the power unit; the connection part for connecting the first rotary shaft with the second rotary shaft and transmitting the motion of the second rotary shaft to the first rotary shaft; a first angular speed detecting unit for detecting a first angular speed of the first rotary shaft; a second angular speed detecting unit for detecting a second angular speed of the second rotary shaft; a torsional angular speed calculating unit for calculating a torsional angular speed generated between the first rotary shaft and the second rotary shaft based on the first angular speed and the second angular speed; and a control unit for controlling the torsional angular speed within a predetermined range. <P>COPYRIGHT: (C)2013,JPO&INPIT |
