Robot control device and robot equipped therewith

摘要

There is provided a robot control apparatus (2) having a drive shaft driven by a servomotor including a non-energized operation type electromagnetic brake (1), in a brake release state of the non-energized operation type electromagnetic brake (1). an energization-ON and an energization-OFF of an exciting coil of the electromagnetic brake of the non-energized operation type (1) are alternately repeated, thereby deviating at least one timing of the energization-ON between a plurality of exciting coils. Suppression of heat generation / energy saving can be realized while suppressing the generation of noise in the electromagnetic brake of the non-energized operation type of the robot.