| 摘要 |
An articulated robot arm (10) comprises n arm sections (13, 16, 18, 21) pivotally mounted one to the other. A plurality of independently controlled servomotors (12, 14, 17, 19) at each of the arm joints moves the tip (22) of the arm towards the desired location. All arm angles are measured with respect to a common reference plane, e.g. the horizon.
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