The present invention relates to a multi-member actuated mechanism (1), preferably a robot (1), particularly preferably an articulated-arm robot (1), having multiple members (11) which are connected to one another by actuated joints (12), having a base (10), which is arranged so as to be static relative to the members (11) and which is connected by means of a first actuated joint (12a) to a first member (11a), having an end effector (14), which is connected by means of an actuated joint (12) to a member (11), and having at least one first image capture unit (21), preferably at least one first camera (21). The multi-member actuated mechanism (1) is distinguished by the fact that at least the first image capture unit (21), preferably at least the first camera (21), is arranged on the base (10) or on a member (11), preferably on a member (11) close to the base.
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