由交流伺服系统直接驱动的机器人关节一体化设计已成为一个重要研究方向。
One important research aspect has come into being which is robot integral joint design driven directly by AC servo system.
为了保证铰关节的轨迹追踪精度，采用了由位置反馈环、速度反馈环和电流反馈环组成的伺服系统。
The servo systems having high precision is composed of a position feedback loop, a velocity feedback loop and a electric current feedback loop.
本文主要阐述了六自由度机械手本体的总体构成及其具体的结构设计，并对机械手单关节位置伺服系统进行了研究。
This paper introduced the constitution and specific design of robot with six DOF and researched the position control system of single joint of robot.
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