Control of a Direct-Drive Arm Using Novel Repetitive Control.
نویسندگان
چکیده
منابع مشابه
Control of a Direct-Drive Arm
A direct-drive arm is a mechanical arm in which the shafts of articulared joints are directly coupled to the rotors of motors with high torque. Since the arm does not contain transmission mechanisms between the motors and their loads, the drive system has no backlash, small friction, and high mechanical stiffness, all of which are desirable for fast, accurate, and versatile robots. First, the p...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Industry Applications
سال: 1993
ISSN: 0913-6339,1348-8163
DOI: 10.1541/ieejias.113.961