| 摘要 |
PURPOSE: To stop to make sudden motion even at emergency time by slowly performing stopping operation while accurately guaranteeing a final stopping angle. CONSTITUTION: An arm driving device is provided with an impedance control part 15 to control impedance on the basis of a preset parameter by feeding back detecting force of a force sensor 4 installed on an arm and a detecting angle of an angle detector 10 installed on a rotary shaft of the arm so as to become a preset arm angle. A means (a joint angle limit excess preventive part 6) to multiply the detecting force by a coefficient monotonously and continuously changing up to 0 from 1 according to a positive and a negative of the detecting force and a detecting angle θ res is arranged in the first stage of feeding back detecting force Tin to the impedance control part 15. |
