The companion robot force-controlled servo adopts optimized wire routing grooves, a dual-disk system, and nut-free installation. It is equipped with a 1722 iron-core motor, delivering a high torque of 10 kg·cm and a top speed of 40 rpm. Utilizing TTL serial bus communication, it reduces wiring by 40% and supports independent ID control. Additionally, it integrates a high-precision potentiometer, ensuring stable locking performance and smooth motion path planning, enabling the robot to achieve optimal motion control. 

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