公开(公告)号：US20230191597A1

公开(公告)日：2023-06-22

申请号：US16959850

申请日：2018-11-26

申请人： SONY CORPORATION

发明人： Muneyuki HORIGUCHI ,  Hidenori KAMBAYASHI

IPC分类号： B25J9/16 ,  B62D57/032 ,  B25J13/08 ,  G05B19/4155 ,  H02K7/116

CPC分类号： B25J9/1633 ,  B62D57/032 ,  B25J13/088 ,  G05B19/4155 ,  H02K7/116 ,  G05B2219/39221

摘要： There is provided a control device to protect an actuator through a simple configuration in a case where a power transmission mechanism receives external force, the control device including a comparison section and a driving force control section. The comparison section compares a first rotation position and a second rotation position with each other. The first rotation position is a rotation position of an input shaft of a power transmission mechanism, and the second rotation position is a rotation position of an output shaft of the power transmission mechanism. The driving force control section controls driving force of an actuator that drives the input shaft on the basis of a difference between the first rotation position and the second rotation position. This configuration allows the actuator to be protected through a simple configuration in a case where the power transmission mechanism receives external force.