Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Design and Control of a Large Direct-Drive Arm for Practical Industrial Applications
Takahiko KONDOHHirotoshi YAMAMOTOHironori OKUDA
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1989 Volume 2 Issue 12 Pages 397-405


A direct-drive robot of a comparatively large size has been developed for practical applications in industry, such as laser cutting. It was designed based on the semi-direct-drive concept, and has 5 degrees of freedom with a 700 mm-long shoulder arm, and a 1050 mm-long forearm, covering a working range as large as a car body.
In this paper, control strategies for the full scale model are proposed through basic analysis. Unfavorable behavior of the arm due to its flexibility was supressed by using the pole-cancellation to obtain high servo-stiffness of the arm. Furthermore, feedforward control was applied to a conventional controller to practically remove its tracking-error.

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