Kamal Youcef-Toumi

This book describes the design concept and discusses the control issues related to the performance of a direct-drive robot, specifically, a direct-drive mechanical arm capable of carrying up to 10 kilograms, at 10 meters per second, accelerating at 5 G (a unit of acceleration equal to the acceleration of gravity). These are remarkable achievements compared to current industrial robots that move with speeds on the order of 1 meter per second.