PURPOSE: To secure the high positioning precision of a robot arm by connecting a robot arm on the outer race of a planetary gear roller reduction gear having a turning angle detecting means for detecting the turning angle between a supporting board and the outer race.
CONSTITUTION: A control part 20 outputs an instruction for controlling the output shaft 5 of a planetary gear roller reduction gear on which a robot arm 13 is joined, into a driving motor 1. The output shaft 5 is driven by the motor 1 according to the instruction and the speed data is feedback processed to a speed control part 121 through a rotary encoder 1b and an F/V converter 1c from the motor and the position data is feedback processed to a position controller 122 through a rotary encoder 12 from the output shaft 5. Accordingly, the control system forms a complete closed loop in relation to the position loop, and even if a slip is generated in a driving power transmission path from the motor 1 to the output shaft 5, the revolution position of the output shaft 5 can be correctly controlled without being perfectly influenced by the slip.
AZUMA YUSAKU
TANIDA TAKEO
KARUBE HIROO
