Microprocessor, dedicated motion controller and driver, optical electronic encoder were used to realize servo closed-loop motion control.
采用微处理器、专用的运动控制和驱动芯片以及光电编码器实现了机器人关节的伺服闭环运动控制；
2
The microprocessor, dedicated motion controlling and driving chip, optical encoder are adopted to realize the joints 'closed-loop servo motion control.