Balancer.

摘要

57 A robot balancer (2) and a method for controlling the balancer is disclosed which has a step or a force sensor (10) mounted on the tip of the arm (3) of the balancer (2), a step or an operational means for calculating the velocity of the balancer from the force given by the force sensor, and a step or a control means for controlling a velocity of the balancer (2) in response to a signal from the force sensor.