A direct drive robotic manipulator is provided which includes a plurality
of segments that are rotatably coupled with respect to one another. A
plurality of spindles connects the segments for relative rotation
therebetween, and a plurality of direct drive assemblies is further
coupled to the plurality of spindles. Each direct drive assembly encloses
an end of a spindle and comprises a rotor assembly to which the spindle
is attached for manipulating the spindle. A positional measurement
apparatus may also be included at each direct drive assembly to ascertain
an angular disposition of a segment relative to an adjoining segment.