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Y. Fukazawa et al.
Fig. 20.11 Link module
Fig. 20.12 End-effector
module
constrained by two-pin positioning and bolting, as shown in Fig. 20.13, to facilitate
module replacement. Table 20.1 lists the general specifications.
20.5.3 Deterioration Detection
Figure 20.14 shows the control diagram of this manipulator. A part agent of the
end-effector module holds the target angle information of each module necessary for
control of the manipulator. The target angle is transmitted to a part agent of the base
Y. Fukazawa et al.
Fig. 20.11 Link module
Fig. 20.12 End-effector
module
constrained by two-pin positioning and bolting, as shown in Fig. 20.13, to facilitate
module replacement. Table 20.1 lists the general specifications.
20.5.3 Deterioration Detection
Figure 20.14 shows the control diagram of this manipulator. A part agent of the
end-effector module holds the target angle information of each module necessary for
control of the manipulator. The target angle is transmitted to a part agent of the base