| 摘要 |
PURPOSE:To make it possible to detect external force cheaply using simple constitution by detecting external force using a motor, a tachogenerator and a potentiometer provided in each joint. CONSTITUTION:A motor current detector 8 detects current of a motor and inputs to an external force torque detecting circuit 15. A potentiometer 11 detects joint angle of axis of a joint and inputs to the circuit 15. A tachogenerator 12 detects angular velocity of axis of a joint and inputs to the circuit 15. A tachogenerator signal differentiator 13 differentiates output of the tachogenerator 12 and derives angular acceleration of joint of axis of a joint and inputs to the circuit 15. The circuit 15 derives torque of external force torque acts to the joint form the input. The derived external force torque signal is amplified by a servo amplifier 14. At this time, a signal is given to the amplifier 14 are inputted to a motor 6, and an arm is driven thereby. |
