Backlash control via redundant drives: An experimental verification

Conference · Wed Jan 01 04:00:00 EST 1992

OSTI ID:5097461

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: DOE; USDOE, Washington, DC (United States)
• DOE Contract Number: FG05-88ER13977
• OSTI ID: 5097461
• Report Number(s): CONF-9209143-1; ON: DE92016368
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
426000 -- Engineering-- Components
Electron Devices & Circuits-- (1990-)
661300 -- Other Aspects of Physical Science-- (1992-)
71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
ANALYTICAL SOLUTION
CONTROL EQUIPMENT
CONTROL SYSTEMS
DESIGN
DIFFERENTIAL EQUATIONS
DYNAMICS
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MECHANICS
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
SERVOMECHANISMS
TESTING
TORQUE