Patent ID: 9306434
Filing Date: 2016-04-05
CPC Classification: B25J,G05B,H02K

Claim Text:
1. A control apparatus that controls rotation of a joint of a robot having a structure in which rotation of an electric motor is reduced by a speed reducer and transferred to an arm, comprising: a first encoder that detects a rotational position of the motor to output motor rotational position data indicating the rotational position; a second encoder that detects a rotational position of the arm to output arm rotational position data indicating the rotational position; a first latch circuit arranged in the first encoder and latches the motor rotational position data; a second latch circuit arranged in the second encoder and latches the arm rotational position data; a latch signal output means arranged in the second encoder outputs a latch signal to the first and second latch circuits every time there is a change in the arm rotational position data; and a control means that controls, when the latch signal is outputted, rotation of the motor on the basis of the motor rotational position data and the arm rotational position data latched in the first and second latch circuits.