| 摘要 |
<p>The present invention relates to a multi-joint robot comprising: an arm element rotating around a first axis; a driving portion generating a driving force which rotates the arm element; a balancing apparatus offsetting a load applied to the driving portion; and a sensing apparatus which senses the driving force produced by the driving portion in order to diagnose performance of the balancing apparatus. According to the present invention, the multi-joint robot can solve a problem that the driving portion is damaged by an overload by preventing malfunction of the balancing apparatus.</p> |
