| 摘要 |
A controller for a planetary differential type reduction gear device (1), in which a driving force of a motor (10) is controlled by controller and the speed is reduced by the planetary differential type reduction gear device (1) so that the reduced speed is transmitted to an output side and a predetermined work is carried out by the driving force on the output sides and in which an output rotation detector (14) is provided on the output side of the planetary differential type reduction gear device (1) so that the driving force of the motor (10) is controlled on the basis of information from the output rotation detector (14) to thereby carry out the predetermined work. The detection is made in the vicinity of the object to be controlled to thereby improve the control accuracy as well as the structure.
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