Backlash control via redundant drives: An experimental verification

Conference · Sat Aug 01 04:00:00 EDT 1992

OSTI ID:10159418

Tsai, L W; Chang, S L

In 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 Language`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.

• Research Organization: Maryland Univ., College Park, MD (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: FG05-88ER13977
• OSTI ID: 10159418
• Report Number(s): CONF-9209143--1; ON: DE92016368
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203
426000
661300
71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
ANALYTICAL SOLUTION
COMPONENTS
ELECTRON DEVICES AND CIRCUITS
CONTROL SYSTEMS
DESIGN
DYNAMICS
EQUATIONS OF MOTION
HANDLING EQUIPMENT AND PROCEDURES
MANIPULATORS
OTHER ASPECTS OF PHYSICAL SCIENCE
SERVOMECHANISMS
TESTING
TORQUE