Robot apparatus and method for controlling robot apparatus

A robot controlling program stored on a non-transitory computer-readable storage medium, the program for operating a controlling apparatus to execute controlling of a robot apparatus provided with a first link, a second link, a joint which connects the first link and the second link to each other, a driving source which drives the joint, a wire member which is arranged along the first link or the second link, and the controlling apparatus which controls the driving source, the wire member being attached to the first link or the second link through a deformation member, to transmit a driving signal at least to the driving source, and a first sensor for measuring a deformation amount of the deformation member when the deformation member is deformed by deformation of the wire member due to driving of the joint by the driving source, the program comprising:

• code for measuring the deformation amount of the deformation member when the deformation member is deformed by deformation of the wire member due to the driving of the joint by the driving source;
• and
• code for the controlling apparatus to drive and control the driving source, based on a value of the deformation measured by the first sensor.

A non-transitory computer-readable recording medium storing a readable robot controlling program operating a controlling apparatus to execute controlling of a robot apparatus provided with a first link, a second link, a joint which connects the first link and the second link to each other, a wire member arranged along the first link or the second link, a driving source which drives the joint, the controlling apparatus which controls the driving source, the wire member being attached to the first link or the second link through a deformation member, to transmit a driving signal at least to the driving source, and a first sensor for measuring a deformation amount of the deformation member when the deformation member is deformed by deformation of the wire member due to driving of the joint, the program comprising:

• code for measuring the deformation amount of the deformation member when the deformation member is deformed by the deformation of the wire member due to driving of the joint by the driving source;
• and
• code for the controlling apparatus to drive and control the driving source, based on a value of the deformation amount measured by the first sensor.

A controlling method of a robot apparatus provided with a first link, a second link, a joint which connects the first link and the second link to each other, a wire member arranged along the first link or the second link, a driving source which drives the joint, a controlling apparatus which controls the driving source, the wire member being attached to the first link or the second link through a deformation member, to transmit a driving signal at least to the driving source, and a sensor for measuring a deformation amount of the deformation member, the controlling method comprising:

• measuring, executed by the controlling apparatus, to operate the sensor to measure the deformation amount of the deformation member when the deformation member is deformed by deformation of the wire member due to driving of the joint by the driving source;
• and
• driving and controlling, executed the controlling apparatus, to operate the driving source to drive the joint, based on a value of the deformation amount measured in the measuring by the sensor.