ROBOT, AND JOINT MECHANISM FOR ROBOT

摘要

The present invention addresses the problem of accurately detecting the rotation of an arm. In order to solve this problem, a robot (1) according to one aspect of an embodiment has a drive body (24), a driven body (26) rotatably connected to the drive body (24), and a drive device (250) for driving the driven body (26). The drive device (250) is provided to the driven body (26), and an encoder (254) is attached to a final output shaft.