POWER ASSIST APPARATUS AND CONTROL METHOD THEREOF

摘要

If the rotation angle (?) in a rotation direction allowed by a joint portion (4) detected by the angle sensor (7) is no more than a predetermined lower limit (?L) or no less than a predetermined upper limit (?H), the controller (5) maintains the released state of the brake mechanism (4a) so that the rotation of the workpiece (10) in the direction is not restricted.