Control of an actively constrained robotic joint for passive deployment applications
journal contributionposted on 14.08.2009, 10:21 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.
- Mechanical, Electrical and Manufacturing Engineering