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Title: Control of an actively constrained robotic joint for passive deployment applications
Authors: Reedman, A.V.C.
Bouazza-Marouf, Kaddour
Keywords: Backlash cancellation
Computed-torque control
Robotics
Issue Date: 2001
Publisher: Professional Engineering Publishing / © IMECHE
Citation: 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.
Abstract: 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.
Description: This is an article from the journal, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics [© IMechE ]. It is also available at: http://dx.doi.org/10.1243/1464419011544466
Version: Published
DOI: 10.1243/1464419011544466
URI: https://dspace.lboro.ac.uk/2134/5149
ISSN: 1464-4193
Appears in Collections:Published Articles (Mechanical and Manufacturing Engineering)

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