Robot apparatus, robot controlling method, program and recording medium

A robot comprising:

• a joint having:
• a rotating motor;
• a speed reducer transmitting a rotation of the rotating motor;
• a first angle sensor sensing a rotation angle of a rotation shaft of the rotating motor or an input shaft of the speed reducer;
• and
• a second angle sensor sensing a rotation angle of an output shaft of the speed reducer;
• and
• a controller configured to control the joint,
• wherein the controller:
• performs a first controlling mode to acquire an output value of the first angle sensor and to operate the motor based on the output value of the first angle sensor for controlling the operation of the joint;
• and
• performs a second controlling mode to acquire an output value of the second angle sensor and to operate the motor based on the output value of the second angle sensor for controlling the operation of the joint.

A method of controlling a robot, the robot having:

• a joint, wherein the joint has:
• a rotating motor;
• a speed reducer transmitting a rotation of the rotating motor;
• a first angle sensor sensing a rotation angle of a rotation shaft of the rotating motor or an input shaft of the speed reducer;
• and
• a second angle sensor sensing a rotation angle of an output shaft of the speed reducer;
• and
• a controller configured to control the joint,
• wherein the method comprises:
• performing a first controlling mode, by the controller, to acquire a detection result of the first angle sensor and to operate the rotating motor based on an output value of the first angle sensor for controlling the operation of the joint;
• and
• performing a second controlling mode, by the controller, to acquire a detection result of the second angle sensor and to operate the rotating motor based on an output value of the second angle sensor for controlling the operation of the joint.