Controller for planetary differential type reduction gear device

A controller for a planetary differential type reduction gear device which receives a driving force from a motor at an input side, reduces speed of the driving force through a planetary differential type reduction gear train and transmits the driving force thus speed-reduced to an output side, said controller comprising:

• an output rotation detector, provided on a back side of the output side of said planetary differential type reduction gear device and having a code plate integrated on said output side of said planetary differential type reduction gear device, for detecting the driving force thus speed-reduced through said planetary differential type reduction gear train;
• and
• control means for controlling the driving force to be applied to said input side of said planetary differential type reduction gear device on the basis of the driving force thus detected by said output rotation detector.