Jia Qing-xuan, Sun Han-xu, Song Jing-zhou, C. Tao, Zheng Ping
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This paper presents a method for modular robot joint that integrates mechanical part and control system. After the analysis of stress and distortion, it sets up a matrix model with errors. At the same time, PCI adapter and DSP servo controller are designed. The characteristics of the module are tested and analyzed. The main characteristics meet the design target.
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