| 摘要 |
A manipulator includes a motor (23) equipped with a rotating shaft which rotates in response to a command signal for driving, a reduction gear (44) coupled with the rotating shaft, a detection unit (41) which detects the operating state of the motor, a tubular body having a movable body (22) which is driven by the motor (23) through the reduction gear (44), a storage unit (36b) which prestores periodical correction information in association with the information about the meshing position of gears constituting the reduction gear (44), a load calculation unit (36a) which performs operational processing of the command signal for driving supplied to the motor (23) and the detection information of the detection unit (41), and further calculates a load acting on the motor as an estimation value by using the correction information, and an announcement unit which announces the calculation results from the load calculation unit (36a). |
