| 摘要 |
<p>Provided is a driving method for a joint device, which is suitable for robot joints and achieves improvement in back-drivability. A first motor and a second motor are fixedly provided to a first link. An output shaft of the first motor is coupled to an inner gear of a differential speed reducer. An output shaft of the second motor is coupled to an outer gear of the differential speed reducer. A second link is coupled to the inner gear of the differential speed reducer. When the first link and the second link are brought into a relative stationary state to keep a joint angle constant, the first motor and the second motor are both rotated at rotation speeds larger than zero and different from each other to bring the second link into a stationary state.</p> |
