Control of an actively constrained robotic joint for passive deployment applications

2009-08-14T10:21:13Z (GMT) by Adam V.C. Reedman Kaddour Bouazza-Marouf
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.