CPC H02K 41/031 (2013.01) [H02P 25/06 (2013.01)] | 12 Claims |
1. An actuator comprising:
a shaft;
a linear motion motor including a stator and a mover, wherein movement of the mover in parallel with a central axis of the shaft relative to the stator of the linear motion motor causes the shaft to move in a direction of the central axis;
a connecting member that is at least a part of a member connecting the mover of the linear motion motor and the shaft;
a force sensor provided in the connecting member, an output of the force sensor being according to a force applied to the connecting member;
an amplifier that amplifies the output of the force sensor;
a low-pass filter that reduces components of frequencies higher than a cut-off frequency, among components of frequencies included in an output from the amplifier; and
a control device that detects a load applied to the shaft, based on the output from the amplifier, until the shaft or a member associated with the shaft comes in contact with an other member, and that detects the load applied to the shaft, based on an output from the low-pass filter, after the shaft or the member associated with the shaft comes in contact with the other member.
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