| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect whether a mechanical component of a robot arm has a failure. <P>SOLUTION: The robot 100 includes arms 103L and 103R having actuators Ac2 to Ac15, a sensor 130 provided in the vicinity of a leading end of a housing of the arms 103L and 103R and having a piezoelectric element with larger eigen frequency than that of a structural material constituting the arms 103L and 103R, and an A/D-converter provided in the vicinity of the sensor 130 for converting an output signal of the sensor 130 into a digital signal. <P>COPYRIGHT: (C)2012,JPO&INPIT |
