Patent ID: 9427870
Filing Date: 2016-08-30
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A robotics apparatus, comprising: a first link pivotably connected at a first joint with regard to a base portion; a second link pivotably connected at a second joint with regard to the first link; a first driving source configured to drive the first link about the first joint; a second driving source configured to drive the second link about the second joint; a third driving source configured to simultaneously drive the first link about the first joint and the second link about the second joint; and a control unit configured to respectively control driving forces of the first driving source, a driving force of the second driving source and a driving force of the third driving source, based on a first driving-force command value for the first driving source, a second driving-force command value for the second driving source, and a third driving-force command value for the third driving source, wherein the control unit executes: target joint-angle generation processing for generating a first target joint angle for the first joint and a second target joint angle for the second joint based on a target trajectory of a distal end of the second link; setting processing for setting the third driving-force command value to a predetermined setting value; first driving-force command value calculation processing for calculating the first driving-force command value based on the third driving-force command value and the first target joint angle; and second driving-force command value calculation processing for calculating the second driving-force command value based on the third driving-force command value and the second target joint angle.