Although conventional commutator-brush DC servomotors and gearing systems have found wide application in drives for small- and medium-sized industrial robots, they have a number of limitations. The work described has involved the development of a brushless DC motor direct-drive system for a high-positional-accuracy robot, which overcomes these limitations and improves performance. Typical experimental results on a test rig are presented and discussed.
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S.R. Williams (1985) studied this question.