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高精度轴角测量是直接驱动机器人系统的关键，文中使用以多极旋转变压器为测量元件测量直接驱动机器人的关节角，并在理论分析和实验的基础上对该方法存在的测量误差进行了修正，以实现对轴角的精密测量．
High-precision shaft angle measurement is the key to direct drive robot system. In this paper, multi-pole resolver is used as the measuring element to measure the joint angle of the direct-drive robot. The measurement error of this method is corrected on the basis of theoretical analysis and experiment In order to achieve a precise measurement of shaft angle.