ROBOT ARM APPARATUS, ROBOT ARM CONTROL METHOD, AND

专利名称：ROBOT ARM APPARATUS, ROBOT ARM

CONTROL METHOD, AND PROGRAM

发明人：Toshimitsu TSUBOI,Takara KASAI,Yasuhisa

KAMIKAWA,Yohei KURODA,WataruKOKUBO,Tetsuharu FUKUSHIMA,YasuhiroMATSUDA,Atsushi MIYAMOTO

申请号：US16288973申请日：20190228

公开号：US20190192238A1公开日：20190627

专利附图：

摘要：A robot arm apparatus is provided and includes: an arm unit made up of aplurality of links joined to each other by one or a plurality of a joint unit; and a drivingcontrol unit that drives the arm unit by controlling driving of the joint unit. If a

malfunction is detected in at least one of the joint unit, the driving control unit controlsthe driving of the joint unit in a state in which a certain restriction is imposed on motion ofthe arm unit, and drives the arm unit to avoid the malfunction.

申请人：SONY CORPORATION

地址：Tokyo JP

国籍：JP

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