ENCODING DRIVING DEVICE AND METHOD, AND ROBOT JOINT

Disclosed are an encoding driving device and method, and a robot joint. The encoding driving device comprises: a sensing module for detecting a physical signal sent by an encoder motion component and outputting a detection result; a central processing module for obtaining, by means of calculation, corresponding position information according to the detection result, and for generating, according to the position information, and current information used by an electric motor, a control signal for controlling the electric motor; a power module for providing, according to the control signal output by the central processing module, a drive signal for the electric motor, and for providing a set power protection; a power management module for accessing an alternating current or a direct current, and converting same into a power input that satisfies power supply requirements of the central processing module and the power module; and a current detection module for extracting, from the power module, the current information used by the electric motor, and for providing the current information to the central processing module. By means of the technical solution in the embodiments, a robot joint can be more compact.