Modelling and control of direct drive robot manipulators

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...

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Bibliographic Details
Main Author: Ahmad @ Mohd. Sanif, Mohamad Noh
Format: Thesis
Published: 2003
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