Control of a Direct-Drive Arm
Download or Read eBook Control of a Direct-Drive Arm PDF written by Haruhiko Asada and published by . This book was released on 1982 with total page 37 pages. Available in PDF, EPUB and Kindle.
| Author | : Haruhiko Asada |
| Publisher | : |
| Total Pages | : 37 |
| Release | : 1982 |
| ISBN-10 | : OCLC:227534440 |
| ISBN-13 | : |
| Rating | : 4/5 (40 Downloads) |
Book Synopsis Control of a Direct-Drive Arm by : Haruhiko Asada
Book excerpt: 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.
