Modelling and control of direct drive robot manipulators

• Main Author: Ahmad @ Mohd. Sanif, Mohamad Noh
• Format: Thesis
• Language: English
• Published: 2003
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/8001/1/MohamadNohAhmadMFKE2003.pdf; http://eprints.utm.my/id/eprint/8001/; http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:11530

This thesis is concerned with the problems of modeling and controlling of direct drive robot manipulators. To achieve these goals, an integrated mathematical model of direct drive robot manipulator is developed. The model considered comprises the mechanical part of the robot manipulator as well as t...