A direct drive of the manipulator using a rotary servo actuator has been recently of great concern, taking such advantages as low cost and light weight.
There has been very little effort to analyze the mechanics of actuator and to improve the performance of the actuator based upon the systematic analysis and the feedback control.
In this study the dynamic characteristics and the sensitivity of some chosen parameters are investigated through simulation, and the effect of feedback for the angular position control is experimentally studied.
The experimental results show that the performance can be improved significantly by employing the feedback control.
