| 摘要 |
PURPOSE: A robot driving device is provided to reduce maintenance work by connecting an encoder coupled to a sub motor to a motor drive unit when an encoder coupled to a main motor is in an abnormal state. CONSTITUTION: A robot driving device comprises a main control unit(210), a motor drive unit(220), an encoder(240), and a switching module(250). The main control unit controls the entire operation of a robot. The motor drive unit simultaneously drives left and right motors(231,232) by receiving a command value from the main control unit. The encoder is coupled to the left motor or right motor and detects the rotational speed of the coupled motor. The detected result is transferred to the motor drive unit. The switching module is connected to the front end of the right motor or left motor and switches the polarity of drive voltage transferred to the motor.
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