| 摘要 |
<P>PROBLEM TO BE SOLVED: To easily perform accurate positioning. <P>SOLUTION: A robot 2 having adjacent links coupled to each other via a joint and having a motor 11 and a speed reducer 12 for transmitting driving force of the motor 11 to the links, in the joint, includes a first detection unit for detecting a rotation angle of the motor 11, and a second detection unit for detecting a rotation angle of an output shaft of the speed reducer 12. A robot control apparatus 3 corrects a position command of the motor 11 based on detection results by the first detection unit and detection results by the second detection unit, and outputs a corrected position command Pref. <P>COPYRIGHT: (C)2012,JPO&INPIT |
