%0 Journal Article %A Reedman, Adam V.C. %A Bouazza-Marouf, Kaddour %D 2009 %T Control of an actively constrained robotic joint for passive deployment applications %U https://repository.lboro.ac.uk/articles/journal_contribution/Control_of_an_actively_constrained_robotic_joint_for_passive_deployment_applications/9560270 %2 https://repository.lboro.ac.uk/ndownloader/files/17192378 %K Backlash cancellation %K Computed-torque control %K Robotics %K Mechanical Engineering not elsewhere classified %K Mechanical Engineering %X 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. %I Loughborough University