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Control of an actively constrained robotic joint for passive deployment applications

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journal contribution
posted on 14.08.2009 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.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

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.

Publisher

Professional Engineering Publishing / © IMECHE

Version

VoR (Version of Record)

Publication date

2001

Notes

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

ISSN

1464-4193

Language

en

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