| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot arm capable of improving reliability, economic efficiency, and an operation rate for detecting contact thereof with the other object and further reducing damage caused by a contact trouble, a contact detection method for the robot arm, and a device equipped with the robot arm. SOLUTION: The robot arm 10 includes: drive motors 2a, 2b, and 2c; angle sensors 22a, 22b, and 22c for motor shafts; a speed reducer; angle sensors 32a, 32b, and 32c for output shafts; robot arms 4a, 4b, and 4c; and a motor control means 50. COPYRIGHT: (C)2011,JPO&INPIT
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