| 摘要 |
PURPOSE: A robot actuator for controlling robot position by a magnetic encoder is provided to control position of a robot by recognizing incremental information and absolute information simultaneously. CONSTITUTION: A robot actuator for controlling robot position by a magnetic encoder comprises a hollow motor(30), a speed reducer(20), first and second encoders(10,40), a motor drive(50), and a robot controller(60). The hollow motor is formed inside a front arm of a robot. The speed reducer is connected to a hollow rotary shaft of the hollow motor. The first encoder detects rotational output of the speed reducer. The second encoder detects rotational output of the hollow motor. The first encoder is a two-pole ring-shaped magnetic encoder and the second encoder is a multi-pole ring-shaped magnetic encoder. The motor drive receives signals of the multi-pole magnetic encoder to control the output of the hollow motor. The robot controller controls operation of the robot with received hollow motor driving information of the motor drive and the output information of the two-pole magnetic encoder.
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