Control of a Direct-Drive Arm,
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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A direct-drive arm is a new mechanical arm in which the shafts of articulated joints are directly coupled to the rotors of high performance torque motors. Since the arm does not contain any gears or transmission mechanisms between the motors and their loads, the drive systems have no backlash, small friction and high mechanical stiffness, all of which are desirable for fast, accurate and versatile robots. This paper presents the characteristic analysis and the design of the control system.
- Machinery and Tools