MANIPULATOR

摘要

An object of the present invention is to improve the control accuracy of a manipulator. As a main point of this invention, a first arm of a service machine (21) consists of a four-joint link mechanism (7) wherein two joints (7c, 7d) at one-side ends of a first arm (7) of the four-joint link are disposed rotatably on a machine base (2a) while two joints (7a, 7b) at the other-side ends of the first arm (7) are disposed rotatably on a bracket (5). Furthermore, two joints (12a, 12b) at one-side ends of a second arm (12) of the service machine (21) and one end (9a) of an actuator (9) for driving the second arm (12) are disposed rotatably on the bracket (5). A first rotational angle sensor (22) for detecting an angle of rotation of the first arm (7) and a second rotational angle sensor (23) for detecting an angle of rotation of the second arm (12) are provided on the bracket (5).