Patent ID: 8649904
Filing Date: 2014-02-11
Classification: B25J,G01C,G05B

Abstract:
1. A robotic device comprising: an arm linkage device including an actuator, a torque transmission mechanism with which a torque of the actuator is transmitted at a predetermined reduction ratio, and an angle sensor adapted to detect a rotational angle of the actuator; an arm body having a plurality of arms linked serially and rotatably with the arm linkage device; a base body to which the arm body is rotatably linked with a base body linkage device disposed on one end of the arm body and including an actuator, a torque transmission mechanism with which a torque of the actuator is transmitted at a predetermined reduction ratio, and an angle sensor adapted to detect a rotational angle of the actuator; an inertial sensor attached to the arm; a first calculation section adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data of the actuator from the angle sensor; a second calculation section adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor; a comparison section adapted to compare one of the angular velocity and the angular acceleration of the actuator calculated by the first calculation section and one of the angular velocity and the angular acceleration of the arm calculated by the second calculation section with each other; and a failure determination section adapted to determine that the inertial sensor is at fault and output a signal for halting an operation of the actuator when an absolute value of a difference between one of the angular velocity and the angular acceleration of the actuator and one of the angular velocity and the angular acceleration of the arm in the comparison section is larger than a predetermined threshold value Ω.