Robot arm mechanism and stepping motor control device |
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| 申请号 | US15498972 | 申请日 | 2017-04-27 | 公开(公告)号 | US09999972B2 | 公开(公告)日 | 2018-06-19 |
| 申请人 | LIFE ROBOTICS INC.; | 发明人 | Woo-Keun Yoon; | ||||
| 摘要 | An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses. | ||||||
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