| 摘要 |
A manipulator comprises a motor including a rotary shaft which rotates in accordance with a drive command signal, a reduction gear unit connected to the rotary shaft, a detection unit which detects an operation state of the motor, a tube body having a movable body which is driven by the motor through the reduction gear unit, a storage unit which stores periodical correction information to be associated with information of the meshing positions of gears constituting the reduction gear unit, in advance, a load calculation section which performs operation processing on the drive command signal to be supplied to the motor and the detected information by the detection unit, and calculates a load acting on the motor as an estimated value further using the correction information, and a notifying unit which notifies a calculation result of the load calculation section. |
