Nonlinear dynamics and motion control of high-performance robotic manipulators with direct drive brushless actuators

This paper focuses on solution of the motion control problem (model development, stability analysis, tracking control, and disturbance attenuation) for high-performance industrial robots and servo-systems directly actuated by brushless limited angle torque motors. This kinematic solution allows one to eliminate the backlash and inertia associated with gearing. High precision and accuracy, minimum-time positioning and superior performance, needed in high-performance robots and servos, are achieved and experiments are documented.