Robot with component (s) and capacitive sensing means based on guard potential

摘要

The present invention relates to measuring electrodes 118 for capacitive sensing, at least one electrical polarization means for polarizing measuring electrodes 118 at an operating frequency, at a first alternating current electrical potential different from the common ground potential MG. Pertains to 1202. The robot has at least one sub-part (104, 114) comprising at least one electrical component or electrical element, the outer walls (104 ₁ , 114 ₁ ) of which are at least partially non-electrically conductive, One polarization means 1202 is also at this operating frequency the electrical potential of the sub-parts 104, 114 with which it is mounted, at a guard potential V _G of alternating current, which is the same or substantially the same as this first potential. And are arranged to electrically protect the parts 104 ₂ , 114 ₂ .