In some types of (indirect-drive) robotic manipulators, joint motors are located away from the joints and torques are transmitted to the joints through transmission devices such as gears, chains, cables, and timing belts. In some other types of manipulators (i.e., direct-drive), joint motors are located at the joints themselves, the rotor being integral with one link and the stator being integral with the joining link. Discuss the advantages and disadvantages of these two designs.