Robot joint angle detecting system
AssigneeKabushiki Kaisha Toshiba
InventorsYorio Hosokawa, Shotaka Sakamoto
Life of this patent
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Abstract
In a system for detecting an angle of a joint coupled through a reduction mechanism to a drive motor, an absolute type rotation angle detector and an incremental-type rotation number detector are coupled to the motor for detecting the rotational angle and the rotation number of the motor, respectively. The detected rotational angle and the detected rotation number are used to calculate the rotational angle of the joint. The incremental-type rotation number detector is provided with a battery for energization during interruption of a power supply.
Claims10
A robot joint angle detecting system for detecting a rotational angle of a joint of a robot coupled through a reduction mechanism to a shaft of a drive motor for driving the joint comprising:
- an absolute-type rotational angle detector coupled to the shaft of the motor for detecting the rotational angle of the motor, an incremental-type rotation number detector coupled to the shaft of the motor for detecting the rotation number of the motor, and means responsive to the detected rotational angle of the motor and the detected rotation number of the motor for determining the rotational angle of the joint, said incremental-type rotation number detector being provided with a battery for energization during interruption of a power supply.
Dependencies are inferred from the claim text.