Control method for robot apparatus, computer readable recording medium, and robot apparatus

A non-transitory computer readable recording medium storing a control program for a robot apparatus, the robot apparatus including a robot arm having an end effector located at an end of the robot arm, the robot arm including a plurality of links coupled one to another by one or more joints, and a control device, the joint including a motor, an input-side encoder, and an output-side encoder, the control program causing the robot apparatus to perform a control method comprising:

• driving, by the motor, the joint via a reduction gear;
• detecting, by the input-side encoder, an angle of an input drive shaft of the reduction gear, the semi-closed control being control in which an angle of the joint is controlled in accordance with an output of the input-side encoder;
• detecting, by the output-side encoder, an angle of an output drive shaft of the reduction gear, the fully closed control being control in which an angle of the joint is controlled in accordance with an output of the output-side encoder;
• and
• selecting, by the control device, the semi-closed control or the fully closed control to control the joint.

A robot apparatus comprising:

• a robot arm having an end effector located at an end of the robot arm,
• the robot arm including a plurality of links coupled one to another by one or more joints;
• and
• a control device configured to selectively perform semi-closed control or fully closed control on the joint,
• the joint including
• a motor configured to drive the joint via a reduction gear,
• an input-side encoder configured to detect an angle of an input drive shaft of the reduction gear, and
• an output-side encoder configured to detect an angle of an output drive shaft of the reduction gear, the semi-closed control being control in which an angle of the joint is controlled in accordance with an output of the input-side encoder, the fully closed control being control in which an angle of the joint is controlled in accordance with an output of the output-side encoder,
• wherein the control device is configured to select and use either semi-closed control or fully closed control to control the joint.