| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an excellent robot device for a motor used as a joint driving actuator of an articulated robot, and a load absorbing device and a load absorbing method. <P>SOLUTION: DC component of a load torque is detected based on the sum of the absolute values of a torque applied on a link connected to an output shaft of a motor, and a torque generated by the motor, and if the value thus obtained is continuously beyond a first threshold value for a prescribed time or longer, an overload is recognized. Moreover, based on the nature that the change rate of energy given to the output shaft of the motor is proportional to the product of the motor and an angular velocity, AC component of the load torque is detected from the change rate of energy, and if the value becomes beyond a second threshold value, responding to this value, the overload is recognized. <P>COPYRIGHT: (C)2004,JPO&NCIPI |
