| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-articulated robot for determining abnormality of feedback control. SOLUTION: This multi-articulated robot includes a sensor for detecting respective joint angles and a controller for controlling a joint based on a detection value of the sensor by making a feedback process. The controller calculates an angle of a specific joint by substituting a detected joint angle of the sensor in the other joint angle except for one specific joint by an equation of motion of a preprepared robot, and determines that the feedback control of the specific joint is abnormal when an angle difference between a calculated joint angle and the detected joint angle of the specific joint falls wide of a predetermined allowable range. COPYRIGHT: (C)2011,JPO&INPIT
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