MODULE UNIT POSITION SERVO SYSTEM AND CONTROL METHOD THEREFOR, AND MODULAR ROBOT

摘要

Provided is a module unit position servo system for detecting a positional change between two rotating portions (20, 30) in a module unit (10) of a modular robot (01). The module unit (10) comprises a position sensor (202) arranged in any one of the rotating portions (20, 30) and a kinematic pair (210) used for connecting the two rotating portions (20, 30) and capable of rotating in a circumferential direction, wherein the position sensor (202) senses information of the rotation angle between the kinematic pair (210) and controls, in combination with a target angle instruction, at least one of the rotating portions (20, 30) to rotate. Further provided are a control method for a module unit position servo system and a modular robot. The module unit position servo system, the control method for a module unit position servo system, and the modular robot have the advantages of a small design, a high measurement speed, a high angle precision, etc.