| 摘要 |
PURPOSE: A robot equipped with an encoder is provided to precisely measure actual movement distance of a robot in spite of slip and idle. CONSTITUTION: A robot equipped with an encoder comprises a principal axis(112), a driving member(120), a main wheel(132), an encoder axis(152), an encoder wheel(162), and an encoder(172). The principal axis and the encoder axis are installed in a main body(102) to face to a first direction. The driving member offers torque to the principal axis. The center of the main wheel is fixed through the principal axis. The main wheel supports the main body and rotates on the floor. The center of the encoder wheel is fixed through the encoder axis. The encoder senses the rotation of the encoder wheel.
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