Patent attributes
A robot apparatus determines a reactive force of a wire member by a sensor, used for the transmission of a driving signal between the robot apparatus and a joint (or end effector). The robot apparatus includes: a plurality of links which constitute a robot arm; rotational joints which connect each of the links to each other; a motor which drives each of the rotational joints; and a cable as a wire member, which is arranged along each link and transmits a driving signal at least to a driving source. A controlling apparatus drives and controls the motor which drives the rotational joints, based on a value of a reactive force, which a cable reactive force measuring unit outputs, which measures the reactive force to be applied to a joint portion when the cable is deformed.
