@article{oai:nagasaki-u.repo.nii.ac.jp:00014282,
 author = {小山, 純 and 樋口, 剛 and 小杉, 辰彦 and 山田, 英二},
 issue = {30},
 journal = {長崎大学工学部研究報告, Reports of the Faculty of Engineering, Nagasaki University},
 month = {Jan},
 note = {Control method of direct-drive arm has been studied to realize the high speed and high accuracy position control. It is one of the important problem to reduce the speed fluctuation caused by the arm weight. In this paper, a learning control method based on the periodicity of the robot arm action is proposed to drive the motor with constant speed. Availability of this control method is conformed by experiment., 長崎大学工学部研究報告, 18(30), pp.17-22; 1988},
 pages = {17--22},
 title = {ロボットアームのダイレクト駆動における学習制御について},
 volume = {18},
 year = {1988}
}