Robot apparatus and controlling method of the robot apparatus

A controlling method of a robot apparatus, wherein the robot apparatus comprises:

• a robot body having a multi joint arm including a plurality of joints;
• a motor provided as a driving source of at least a part of the plurality of joints;
• and
• a controlling system having a controlling unit and inputting a current to the motor to generate at least one of a rotation of the motor and a heat, to control an operation of the robot body, wherein the method comprises:
• calculating, by the controlling unit, a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor;
• and
• supplying, by the controlling unit, the temperature raising current to the motor for rising the temperature, at stopping the robot body.

A controlling method of a robot apparatus, wherein the robot apparatus comprises:

• a robot body having a multi joint arm including a plurality of joints;
• a motor provided as a driving source of at least a part of the plurality of joints;
• and
• a controlling system having a controlling unit and inputting a current to the motor to generate at least one of a rotation of the motor and a heat, to control an operation of the robot body, wherein the method comprises:
• calculating, by the controlling unit, a temperature raising current necessary to rise up to a predetermined temperature without rotating the motor;
• calculating, by the controlling unit, a temperature raising period necessary to rise the temperature of the robot body by the temperature raising current from a current temperature up to the predetermined temperature based on a thermal time constant, such that the temperature of the robot body rises to the predetermined temperature at a time of staring of the operation of the robot body, and
• supplying, by the controlling unit, the temperature raising current to the motor to start the temperature rising, the temperature raising period before the time of staring of the operation of the robot body.