Backlash Control via Redundant Drivers: An Experimental Verification

Simple item page
dc.contributor.authorTsai, Lung-Wenen_US
dc.contributor.authorChang, Sun-Laien_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:51:21Z
dc.date.available2007-05-23T09:51:21Z
dc.date.issued1992en_US
dc.description.abstractIn this paper, a novel concept for the control of backlash in geared servo-mechanisms is demonstrated with a prototype manipulator. The concept utilizes unidirectional redundant drives to assure positive coupling of gear meshes at all times and, thereby, eliminates backlash completely. To establish a proof of concept, a two-DOF prototype manipulator with three unidirectional drives is designed and tested. Dynamic model based on Lagrange's formulation is established. a PID controller using computed torque control technique is developed. Two experiments, one with redundant drives and the other without redundant drives, are conducted. The experimental results demonstrate that use of unidirectional redundant drives improves the repeatability of a manipulator by an order of magnitude.en_US
dc.format.extent935190 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5266
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1992-85en_US
dc.subjectkinematicsen_US
dc.subjectoptimal controlen_US
dc.subjectroboticsen_US
dc.subjectintelligent servo: backlash controlen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleBacklash Control via Redundant Drivers: An Experimental Verificationen_US
dc.typeTechnical Reporten_US

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
TR_92-85.pdf
Size:
913.27 KB
Format:
Adobe Portable Document Format
Download

Collections

Institute for Systems Research Technical Reports