Control of a Direct-Drive Arm,

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 09, 1982
Accession Number
ADA114969

Entities

People

  • Haruhiko Asada
  • Ichiro Takeyama
  • Takeo Kanade

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Centrifugal Force
  • Control Systems
  • Diameters
  • Dynamics
  • Energy
  • Equations
  • Frequency
  • Frequency Response
  • High Resolution
  • Manufacturing
  • Mathematical Models
  • Measurement
  • Mechanics
  • Models
  • Robots
  • Steady State

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.
  • Tribology (the study of the boundary interaction between sliding surfaces, lubrication, wear and friction).

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy