REEDMAN, A.V.C. and BOUAZZA-MAROUF, K., 2001. Control of an actively constrained robotic joint for passive deployment applications. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 215(4), pp. 187-197.
The design and control of an actively constrained revolute joint with backlash cancellation for passively deployed devices is presented in this paper. The drive mechanism consists of two motor-driven worms coupled to a single worm wheel. A mathematical model of the system is used in order to develop a backlash cancellation strategy and computed-torque motion control algorithm. Experimental results show that the position of the joint can be successfully controlled to track a trajectory generated from a user-input force command signal while cancelling backlash at the gear interface.