DEVICE AND CONTROL METHOD

PROBLEM TO BE SOLVED: To provide a device capable of improving the positioning accuracy of an arm. SOLUTION: This device includes at least two driving devices, and one driving device drives a first arm part, and the other driving device is a device arranged in the first arm part and driving a second arm part. The driving device includes a driving part for rotatingly driving a driving output shaft, a reduction gear for connecting a speed reduction input shaft to a driving output shaft of the driving part, a first position detector for detecting the rotation angle position of the driving output shaft of the driving part, and a second position detector for detecting the rotation angle position of the speed reduction output shaft of the reduction gear. The driving part, the reduction gear, the first position detector and the second position detector are integrally constituted. COPYRIGHT: (C)2011,JPO&INPIT