| 摘要 |
<p>A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism. <IMAGE></p> |
