CN107650142B - Servo driving system applied to mechanical arm joint - Google Patents
Servo driving system applied to mechanical arm joint Download PDFInfo
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- CN107650142B CN107650142B CN201710566608.4A CN201710566608A CN107650142B CN 107650142 B CN107650142 B CN 107650142B CN 201710566608 A CN201710566608 A CN 201710566608A CN 107650142 B CN107650142 B CN 107650142B
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- 238000013461 design Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 229910001416 lithium ion Inorganic materials 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
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Abstract
The invention relates to the technical field of industrial driving devices, in particular to a servo driving system applied to a mechanical arm joint. The servo driving system comprises a hollow shaft motor, a driving circuit board, an encoder circuit board, a multi-turn absolute value encoder and a grating encoder, wherein the multi-turn absolute value encoder and the grating encoder are matched for use, the integral precision of a mechanical arm joint is guaranteed, meanwhile, the structure of the multi-turn absolute value encoder is greatly reduced, compared with the existing multi-turn absolute value encoder, a complex gear set structure is not needed, the structure of the multi-turn absolute value encoder is simpler, the cost and the design difficulty can be effectively reduced, the reliability and the stability are high, and all parts of the multi-turn absolute value encoder and the grating encoder are distributed and installed on the hollow input shaft, the driving circuit board and the encoder circuit board, so that the whole servo driving system is compact in structure and occupies less space.
Description
Technical Field
The invention relates to the technical field of industrial driving devices, in particular to a servo driving system applied to a mechanical arm joint.
Background
Generally, the mechanical arm mostly adopts a permanent magnet synchronous motor with a solid shaft, and the servo driving part is mostly arranged outside the mechanical arm body through a bus. The light mechanical arm (flexible arm) needs a high load-weight ratio and a compact joint structure, and a hollow shaft is mostly adopted for internal wiring, but the size structure of a motor and a speed reducer limits the number and the wire diameter of the hollow wiring, so that a servo driving system is mostly directly arranged in the joint to reduce the wiring complexity.
The structure of each part of the servo driving system in the current light mechanical arm joint is not compact enough, and the structure is complex. Taking a common servo driving system of a mechanical arm joint as an example, for protecting precision, the encoder adopts the following schemes: 1) The high speed shaft and the low speed shaft are respectively provided with a hollow shaft structured encoder, and the method increases the structural complexity and the axial dimension. 2) The high-speed shaft is provided with a solid shaft multi-turn absolute value encoder, gear transmission is required to be added in a narrow space, the structure is complex, and the positioning accuracy is also affected. And meanwhile, the compactness and the small size of the whole joint cannot be guaranteed.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to provide a highly integrated servo driving system applied to a mechanical arm joint, which solves the problems that the structure of the servo driving system of the traditional mechanical arm joint is not compact and the occupied space is large.
(II) technical scheme
In order to solve the technical problems, the invention provides a servo driving system applied to a mechanical arm joint, which comprises a hollow shaft motor, a driving circuit board, an encoder circuit board, a multi-turn absolute value encoder and a grating encoder;
The driving circuit board and the encoder circuit board are fixed on the joint shell and are arranged at intervals;
the multi-turn absolute value encoder comprises a singlechip, a permanent magnet and at least one magnetic angle sensor;
the permanent magnet is arranged on a hollow input shaft of the hollow shaft motor and rotates along with the hollow input shaft;
the at least one magnetic angle sensor is integrated on the encoder circuit board and positioned around the permanent magnet to detect a single-turn absolute angle value of the hollow input shaft;
The zero position of the absolute angle value of the single circle is marked and stored in the singlechip, and the singlechip is integrated on the circuit board of the encoder;
the output end of the at least one magnetic angle sensor is respectively connected with the single chip microcomputer, so that the single chip microcomputer can determine the multi-circle absolute angle value of the hollow input shaft according to the single-circle absolute angle value and the times of zero crossing the single-circle absolute angle value.
The grating encoder comprises a grating disc and a grating reading head, and the grating disc is arranged on the hollow input shaft and rotates along with the hollow input shaft; the grating reading head is fixed on the driving circuit board and used for reading the grating disk.
Preferably, the encoder plate is provided with a profiled indentation for accommodating the grating readhead.
Preferably, the multi-turn absolute value encoder is further provided with a standby battery, and the magnetic angle sensor and the singlechip are powered when the main power supply is powered off.
Preferably, the driving circuit board is further provided with a power supply selection circuit for selecting the main power supply or the standby battery to supply power to the singlechip and the magnetic angle sensor.
Preferably, the backup battery is disposed on the drive circuit board;
the driving circuit is provided with a notch for accommodating the standby battery.
Preferably, the permanent magnet is an annular permanent magnet with N poles and S poles symmetrically arranged.
Preferably, a non-mounting area where no component is mounted is arranged on the outer side of the encoder circuit board, and the brake is mounted close to the non-mounting area.
Preferably, the driving circuit board is further provided with a power chip with a wide voltage input range.
(III) beneficial effects
The technical scheme of the invention has the following advantages: according to the servo driving system provided by the invention, the multi-turn absolute value encoder and the grating encoder are matched for use, so that the integral accuracy of the mechanical arm joint is ensured, meanwhile, the structure of the multi-turn absolute value encoder is greatly simplified, compared with the existing multi-turn absolute value encoder, a complex gear set structure is not needed, the structure of the multi-turn absolute value encoder is simpler, the cost and the design difficulty can be effectively reduced, the reliability and the stability are higher, and all parts of the multi-turn absolute value encoder and the grating encoder are distributed and arranged on a hollow input shaft, a driving circuit board and an encoder circuit board, so that the whole servo driving system is compact in structure and occupies less space.
Drawings
FIG. 1 is a schematic diagram of a servo drive system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a drive circuit board and an encoder circuit board in an embodiment of the invention;
FIG. 3 is a schematic diagram of a driving circuit board and a grating encoder according to an embodiment of the present invention;
FIG. 4 is a schematic view of a magnetic angle sensor placed on a side of a permanent magnet in an embodiment of the present invention;
Fig. 5 is a schematic view of a structure in which a magnetic angle sensor is placed on an end face of a permanent magnet according to another embodiment of the present invention.
In the figure: 1: a driving circuit board; 2: an encoder circuit board; 3: a grating readhead; 4: grating discs; 5: a standby battery; 6: a permanent magnet; 7: a magnetic angle sensor; 100: a hollow input shaft; 200: a brake.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, the servo driving system applied to the mechanical arm joint provided by the embodiment of the invention comprises a hollow shaft motor, a driving circuit board 1, an encoder circuit board 2, a multi-circle absolute value encoder and a grating encoder, wherein the driving circuit board 1 and the encoder circuit board 2 are fixed on a joint shell, and the driving circuit board 1 and the encoder circuit board 2 are arranged at intervals. Preferably, both the multi-turn absolute value encoder and the grating encoder are located between the drive circuit board 1 and the encoder circuit board 2. And both the multi-turn absolute value encoder and the grating encoder are mounted at least in part on the hollow input shaft 100 of the hollow shaft motor.
In an embodiment of the invention, the multi-turn absolute value encoder comprises a single chip microcomputer (not shown in the figure), a permanent magnet 6 and at least one magnetic angle sensor 7. Wherein the permanent magnet is mounted on the hollow input shaft 100 of the hollow shaft motor and rotates with the hollow input shaft 100, and the geometric center of the permanent magnet 1 is located on the axis of the hollow input shaft 100.
The magnetic angle sensor 7 is integrated on the encoder circuit board 2 and is located on the side of the permanent magnet 1 to give a single turn of absolute angle value to the hollow input shaft 100 by a periodically varying magnetic field.
The zero position of the single-circle absolute angle value of the hollow input shaft is marked in the single-chip microcomputer through a calibration process, when the single-chip microcomputer detects the zero position of the single-circle absolute angle value, the rotation span of the hollow input shaft 100 can be judged, the output end of the magnetic angle sensor 7 is connected with the single-chip microcomputer, the magnetic angle sensor 7 transmits detected information to the single-chip microcomputer, and the single-chip microcomputer determines the multi-circle absolute angle value of the hollow input shaft 100 according to the detected single-circle absolute angle value and the number of times of the zero position crossing the single-circle absolute angle value.
The external data interface of the multi-turn absolute value encoder is an SPI interface, which is provided by a singlechip and is configured into an SPI slave mode.
The servo driving system of the embodiment further comprises a grating encoder, after the joint is electrified and the Z phase of the grating encoder is detected, the grating encoder integrates position information by taking the multi-circle absolute angle value of the current multi-circle absolute encoder as a base point, and therefore high-precision multi-circle absolute angle value detection of the hollow input shaft 100 is achieved.
And then, taking the detected position information of the grating codes as the reference, storing the multi-turn absolute angle value information of the multi-turn absolute value encoder on the singlechip, correcting the multi-turn information of the multi-turn absolute value encoder by the detected position information of the grating codes, and recording the stored position information by adopting a dynamic interval time sampling strategy under the power-down state of the joints. And when the power is normally applied and the Z phase of the grating encoder is detected, switching to the calibrated absolute position value of the grating encoder.
As shown in fig. 1 and 3, the grating encoder includes a grating disk 4 and a grating readhead 4, wherein the grating disk 4 is mounted on the hollow input shaft 100 and rotates with the hollow input shaft 100, and the grating readhead 3 is mounted on the driving circuit board 1 for reading the grating disk 4, thereby obtaining information of absolute angle values, speeds, etc. of multiple turns of the hollow input shaft 100.
Preferably, the grating encoder is an incremental grating encoder.
Specifically, when power is on, a master control singlechip integrated on a drive circuit board reads the position information of the multi-circle absolute value encoder through SPI communication, and the single circle absolute position information has positive and negative 2-degree errors in a single circle, so that the motor magnetic angle detection input error requirement in a current loop can be met. The error at the low-speed side is smaller than plus or minus 0.02 degree after passing through the speed reducer, so that the requirement of the position loop for detecting the input error is met, and the speed of the speed loop is detected and input by using a grating encoder signal with higher resolution and real-time. When a user starts the mechanical arm, the master control singlechip controls the brake to be opened, and the closed-loop control of the position loop, the speed loop and the current loop can be immediately performed because the master control singlechip already has all input signals of closed-loop control (input signals of the position loop and the current loop obtained through the multi-turn absolute value encoder and signal input of the speed loop obtained through the grating encoder). In the prior art, the Z phase of the grating encoder is needed to be found by open-loop dragging (only the Z phase of the grating is used on the high-speed side, an absolute value encoder is added on the low-speed side, the structure is complex, the cost is high, and autonomous motion occurs when the grating encoder is started macroscopically); or directly using a high-precision multi-turn absolute value encoder at the high-speed side (the existing product has larger volume and high cost and can not meet the application requirements).
After the hollow shaft motor operates, when the Z phase of the grating encoder is detected, the single-circle absolute position information is switched to be accurately calibrated, the incremental grating encoder signals are used for accumulating the position information, and meanwhile, the multi-circle position information is corrected, so that the calibrated position information can have higher and more accurate detection resolution, and the control performance is further improved. And the optimal detection signals are used in different control loops in a fusion way, so that the overall control effect is optimal.
Alternatively, when more antipodal motors are used, for example, a 12 antipodal motor is used, the absolute angle value of a single circle corresponding to the magnetic flux angle of 90 degrees required by a current ring is 360/12/4=7.5 degrees, the error of 2 degrees of the single circle can be in an extremely low probability motion state (the Z phase of the grating encoder is not detected all the time), the state that the current of the Q axis of the motor is large can be generated correspondingly, and the phenomenon that the heating value of the motor is large can be generated correspondingly.
According to the servo driving system provided by the embodiment, the multi-turn absolute value encoder and the grating encoder are matched for use, so that the integral accuracy of the mechanical arm joint is guaranteed, meanwhile, the structure of the multi-turn absolute value encoder is greatly reduced, compared with the existing multi-turn absolute value encoder, a complex gear set structure is not needed, the structure of the multi-turn absolute value encoder is simpler, the cost and the design difficulty can be effectively reduced, and the reliability and the stability are higher. After the mechanical arm joint is electrified, the grating encoder can read the single-circle absolute position of the multi-circle absolute value encoder, so that the joint can determine the initial position of single-circle rotation without rotating to the Z phase of the grating encoder in an open loop, and under the condition of not counting the number of circles, the mechanical arm joint is enabled to be started softly, and zero finding jitter phenomenon does not occur.
In addition, each part of the multi-turn absolute value encoder and the grating encoder are distributed and arranged on the hollow input shaft 100, the driving circuit board 1 and the encoder circuit board 2, so that the whole servo driving system has a compact structure and occupies less space.
As shown in fig. 1 and 2, in order to further reduce the axial size of the servo drive system, the encoder circuit board 2 is provided with a profiled gap for accommodating the grating readhead 3, which can effectively reduce the axial separation distance of the drive circuit board 1 and the encoder circuit board 2.
In order to stably record multi-turn absolute angle value information of the hollow input shaft all the time, the multi-coding absolute value encoder is further provided with a standby battery 5, and when a main power supply (external power supply) is powered off, the standby battery 5 is started and supplies power to the magnetic angle sensor 7 and the singlechip, so that the magnetic angle sensor 7 and the singlechip are kept in a working state all the time.
Further, a power supply selection circuit for selecting a main power supply or a standby battery 5 to supply power to the singlechip and the magnetic angle sensor 7 is arranged on the driving circuit board 1.
The main power supply is realized by external power supply, and the power supply selection circuit is realized by a power supply selection chip. Specifically, the external power supply and the standby battery power supply are switched through the power supply selection chip, so that the interference can be effectively removed, and the power supply jitter in the switching process is avoided.
In one particular embodiment, the power select chip is a MAX6326 chip. The standby battery 5 can be a small-package lithium ion battery supporting the charging function, the charging control can be realized by a special lithium battery charging management chip or a single chip microcomputer, when the battery is realized by the single chip microcomputer, the single chip microcomputer detects the voltage of the battery through an integrated ADC functional circuit when external power is supplied, when the voltage is lower than a preset threshold voltage, the charging switch circuit is controlled to be opened through IO to charge the battery, the voltage is monitored in the charging process, and the charging circuit is turned off after the voltage reaches a certain value. The charging switch circuit can be realized through a triode.
In the embodiment of the invention, when the power supply selection circuit selects the standby battery to supply power and the angle information obtained continuously twice is compared in the preset time, when the angle change is always smaller than the threshold value, the singlechip enters standby, namely the singlechip is in a sleep mode with ultralow power consumption, only small current of the standby power supply is consumed, and the standby power supply selection circuit is used for maintaining the basic work of the singlechip and the magnetic angle sensor 7 and preventing the error of recording circles.
Here, the preset time for continuously comparing the angle information obtained twice by the singlechip is 0.5S-1.5S, preferably 1S, and of course, the preset time can be selected according to factors such as the rotating speed of the hollow input shaft, the detection precision and the like.
In a specific embodiment, as shown in fig. 4, the permanent magnet 6 is a ring magnet, the magnetic angle sensor 7 is an analog output magnetic angle sensor integrated chip, the analog output magnetic angle sensor integrated chip is located on the side surface of the ring magnet, the singlechip is a low-power-consumption singlechip, and the battery is a rechargeable lithium ion battery.
When the analog output magnetic angle sensor is used to be placed on the side face of the permanent magnet 6, calibration is needed, specifically, the analog output magnetic angle sensor provides sine value and cosine value two paths of signal output, the phase difference is 45 degrees, and unique sine value and cosine value can be provided within 180 degrees, and the cycle is 180 degrees. The tangent value is obtained through the sine value and the cosine value, the tangent value is utilized to look up a table, a high-precision encoder is used for calibrating the table, a mapping table of the tangent value and the actual angle value is recorded and stored in the singlechip, and the singlechip can obtain the actual angle value of the hollow input shaft according to signals output by the analog output magnetic angle sensor.
In another embodiment, as shown in fig. 5, the analog output magnetic angle sensor is placed on the end face of the circular magnet, and after the tangent value is obtained, the actual angle value of the hollow input shaft can be obtained by subtracting the tangent.
In other embodiments, a magnetic angle sensor for directly outputting an angle can be used, and the magnetic angle sensor is placed on the end face to directly output an angle value, or the magnetic angle sensor is provided with a compensation algorithm, and only needs to provide some parameters for different models.
The backup battery 5 may be mounted at any position in the mechanical arm joint such as the drive circuit board, the encoder circuit board, etc., preferably, mounted on the drive circuit board, and a notch for accommodating the backup battery 5 is provided on the drive circuit board 1.
As shown in fig. 2, a non-mounting area is provided on the outer side (the side far away from the driving circuit board) of the encoder circuit board 2, where the non-mounting area refers to an area where no components are provided, that is, an area where the encoder circuit board 2 remains white, and the brake 200 is sleeved on the hollow input shaft and is tightly attached to the encoder circuit board 2, so that the axial dimension of the mechanical arm joint can be reduced.
In the embodiment of the invention, the driving circuit board 1 and the encoder circuit board 2 are arranged at the same time, so that components and parts can be reasonably distributed, peripheral parts can be reasonably distributed, the overall axial dimension including a brake is reduced to 39.4mm, and the moving space of the mechanical arm joint is greatly expanded.
In order to make the applicable range of the mechanical arm joint wider, preferably, a power chip with a wide voltage input range is arranged on the driving circuit board 1, so that the power chip is compatible with 20-50V wide voltage input, and the application range of the mechanical arm joint is greatly expanded.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. Be applied to servo drive system in arm joint, its characterized in that: the device comprises a hollow shaft motor, a driving circuit board, an encoder circuit board, a multi-turn absolute value encoder and a grating encoder;
The driving circuit board and the encoder circuit board are fixed on the joint shell and are arranged at intervals;
the multi-turn absolute value encoder comprises a singlechip, a permanent magnet and at least one magnetic angle sensor;
the permanent magnet is arranged on a hollow input shaft of the hollow shaft motor and rotates along with the hollow input shaft;
the at least one magnetic angle sensor is integrated on the encoder circuit board and positioned around the permanent magnet to detect a single-turn absolute angle value of the hollow input shaft;
The zero position of the absolute angle value of the single circle is marked and stored in the singlechip, and the singlechip is integrated on the circuit board of the encoder;
The output end of the at least one magnetic angle sensor is respectively connected with the single chip microcomputer, so that the single chip microcomputer can determine the multi-circle absolute angle value of the hollow input shaft according to the single-circle absolute angle value and the times of zero crossing the single-circle absolute angle value;
The grating encoder comprises a grating disc and a grating reading head, and the grating disc is arranged on the hollow input shaft and rotates along with the hollow input shaft; the grating reading head is fixed on the driving circuit board and used for reading the grating disc;
The encoder plate is provided with a special-shaped notch for accommodating the grating reading head;
The permanent magnet is an annular permanent magnet with N poles and S poles symmetrically arranged.
2. The servo drive system of claim 1 wherein: the multi-turn absolute value encoder is also provided with a standby battery, and the magnetic angle sensor and the singlechip are powered when the main power supply is powered off.
3. The servo drive system of claim 2 wherein: and the driving circuit board is also provided with a power supply selection circuit for selecting the main power supply or the standby battery to supply power to the singlechip and the magnetic angle sensor.
4. The servo drive system of claim 2 wherein: the standby battery is arranged on the driving circuit board;
the driving circuit is provided with a notch for accommodating the standby battery.
5. The servo drive system of claim 1 wherein: and a non-mounting area for mounting no components is arranged on the outer side of the encoder circuit board, and the brake is tightly attached to the non-mounting area.
6. The servo drive system of claim 1 wherein: the driving circuit board is also provided with a power chip with a wide voltage input range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566608.4A CN107650142B (en) | 2017-07-12 | 2017-07-12 | Servo driving system applied to mechanical arm joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566608.4A CN107650142B (en) | 2017-07-12 | 2017-07-12 | Servo driving system applied to mechanical arm joint |
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| CN107650142A CN107650142A (en) | 2018-02-02 |
| CN107650142B true CN107650142B (en) | 2024-04-26 |
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| CN201710566608.4A Active CN107650142B (en) | 2017-07-12 | 2017-07-12 | Servo driving system applied to mechanical arm joint |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108481365A (en) * | 2018-04-04 | 2018-09-04 | 北京钢铁侠科技有限公司 | For the absolute zero position detection device and detection method of robot, robot |
| CN110440846B (en) * | 2019-08-01 | 2021-07-23 | 北京航天发射技术研究所 | Data acquisition method, system, terminal and storage medium of multi-turn encoder |
| CN112824059B (en) * | 2019-11-15 | 2023-01-17 | 合肥欣奕华智能机器股份有限公司 | Encoder data conversion method, device and equipment |
| CN111197954B (en) * | 2019-12-27 | 2021-08-13 | 深圳市越疆科技有限公司 | Absolute position measuring method and device of machine, storage medium and machine |
| CN111806557A (en) * | 2020-07-31 | 2020-10-23 | 上海联适导航技术有限公司 | Absolute value encoder steering control motor |
| CN113799111B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113741350B (en) * | 2021-08-24 | 2023-05-23 | 珠海格力电器股份有限公司 | Servo control system and method based on double encoder feedback and electric equipment |
| TWI766798B (en) * | 2021-08-31 | 2022-06-01 | 友達光電股份有限公司 | Joint device and joint module |
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| JP2002340614A (en) * | 2001-05-18 | 2002-11-27 | Yaskawa Electric Corp | Encoder |
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
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| JP2002340614A (en) * | 2001-05-18 | 2002-11-27 | Yaskawa Electric Corp | Encoder |
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN103792957A (en) * | 2014-02-14 | 2014-05-14 | 东南大学 | Light two-freedom-degree camera stabilized platform device |
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| CN107650142A (en) | 2018-02-02 |
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