Abstract
News editors obtained the following quote from the background information suppli ed by the inventors: “ “Field of the Disclosure “The present disclosure relates to a robot. “Description of the Related Art “Robots have been used for the purpose of automation in manufacturing processes in factories. In such a robot, a rotation angle of a motor shaft or a joint angl e is detected by one encoder to control the rotation angle of the motor shaft or the joint angle. A general encoder includes a scale for detecting an angle in o ne rotation and a storage medium for storing the number of rotations. Such a sto rage medium includes a battery, a capacitance, and the like in order to hold the number of rotations even when power supply to the robot is cut off, with no pow er supplied. However, the number of rotations held in the storage medium may be lost or the reliability may be reduced due to battery consumption, disconnection of a battery power supply line, a short circuit, or the like. As a result, a di fference occurs in the encoder detection position before and after loss of the n umber of rotations, or before and after a decrease in reliability. For example, when the number of rotations corresponding to three rotations is lost, the three rotations is counted as zero rotation, and a difference corresponding to three rotations occurs before and after the loss of the number of rotations.
NETL
NSTL