CONTROL DEVICE AND METHOD OF ARTICULATED MECHANISM, ARTICULATED DEVICE, ROBOT DEVICE AND ITS CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To simplify the constitution by detecting a drive current value of an actuator of an articulated mechanism and detecting the dimension of the torque by an external force applied to an output shaft of the actuator based on the current value. SOLUTION: A sub-control part 73D sends a designated rotation angle, speed or torque to motors M-13, M-14 of an ankle articulated mechanism. Then, the sub-control part 73C is given drive current detection data digital converted from the drive current detection signal from a current sensor of a coil drive block for a power substrate. The sub-control part 73D calculates the output torques of the motors M-13, M-14 based on the drive current detection data and calculates the torque generated to the output shaft by an external force by subtracting the torques generated to the output shafts of the motors M-13, M-14 by the dead weight in the preliminary memorized form from the output torques.