Robot apparatus, robot control method, program, and recording medium
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United States of America Patent
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-
May 17, 2016
Grant Date -
Mar 27, 2014
app pub date -
Sep 18, 2013
filing date -
Sep 25, 2012
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle.
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