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The method based on backlash feedforward compensation is discussed. Feedforward control is realised by the prediction technique so that the system has relatively high position precision under the low cost gearbox. In order to verify the effectiveness of this method, the trajectory of end effector is designed in the form of lines in applying the method to the robot that checks the filters. According to the optimisation criterion of the motor's frequency, parameters of the two-trapezium speed curve of the end effector of the robot are calculated. It is concluded from the experiments that the robot maximum error tracking fold line of filter falls within the prescribed range.

This article analyzes the dynamics of a ship-mounted crane and establishes the mathematical model of the load. Based on the mathematical model, the time-delayed feedback control algorithm is proposed to anti-load sway. The Lambert W function and Newton-Raphson method are used to prove the stability of control system. The contour plot of the system damping is obtained; by selecting appropriate time delay and system gain, the system damping increases and load sway rapidly decays, thereby the system is stable. The co-simulation and experimental results show that the delayed feedback controller has better performance in anti-sway and robustness.

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