@article{(Open Science Index):https://publications.waset.org/pdf/3691,
	  title     = {Modelling of a Direct Drive Industrial Robot},
	  author    = {C. Perez and  O. Reinoso and  N. Garcia and  J. M. Sabater and  L. Gracia},
	  country	= {},
	  institution	= {},
	  abstract     = {For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {2},
	  number    = {12},
	  year      = {2008},
	  pages     = {1338 - 1343},
	  ee        = {https://publications.waset.org/pdf/3691},
	  url   	= {https://publications.waset.org/vol/24},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 24, 2008},