| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve such problems that existing methods for controlling robotic devices take time for processing due to an increase in calculation amount in a controlling device thereof, or cause an increase in cost of the controlling device to make the processing speed thereof faster. <P>SOLUTION: A robotic device includes: a first calculation section adapted to calculate an angular velocity of an arm operating due to an actuator provided with an angle sensor based on rotational angle detection data of the angle sensor of the actuator; a second calculation section adapted to calculate an angular velocity of the arm taking a linkage device as an axis based on angular velocity detection data of an inertial sensor provided to the arm linked via the linkage device including the actuator, which is a calculation object of the first calculation section; and a third calculation section adapted to calculate a torsional angular velocity between the actuator and the arm with a low-frequency component eliminated. <P>COPYRIGHT: (C)2012,JPO&INPIT |
