APPARATUS COMPRISING MULTI-JOINTED ARM GRAVITY COMPENSATING METHOD

摘要

The present invention relates to a device with a multi-joint arm. A device with a multi-joint arm according to an embodiment of the present invention comprises: a body; a first link which is rotatably combined to the body at a first joint; a multi-joint arm having a second link rotatably combined to the first link at a second joint; and a compensation unit generating compensation moment which cancels moment generated by the weight of the multi-joint arm. The compensation unit comprises: a compensation load generating the compensation moment; and a compensation link connecting the compensation load and the multi-joint arm in order for the compensation load to be located in the opposite direction of the multi-joint arm based on the first joint.