To provide a joint driving device reducing the number of inputs of analog information as much as possible, while enhancing accuracy of the control of a joint part.
An encoder 3 is connected to a motor side of this device, a potentiometer is connected to the joint part side, and values of the potentiometer and the encoder 3 are read and are stored in a member (S201 and S202). Subsequently, the stored value of the potentiometer and the stored value of the encoder 3 are converted into a joint angle θP and a joint angle θE, respectively, and the angle difference θP-θE is calculated (S203). Load torque data for showing the relation of the angle difference θP-θE and load torque of the joint part is stored in a storage part in advance, and the load torque of the joint part is estimated on the basis of the load torque data and the angle difference θP-θE calculated in S203 (S204).
Toshio Morita
Yoshihei Nakamura
Yutaka Horii
Hisato Noda
Masayuki Sakai