Experimental backlash study in mechanical manipulators

Lima, Miguel F. M.; Machado, J. A. Tenreiro; Crisóstomo, Manuel

doi:10.1017/s0263574710000056

Cited by 9 publications

(5 citation statements)

References 20 publications

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“…Most of these papers offer solutions for the modeling and identification of the mechanical system together with the backlash phenomenon. [1][2][3][4][5][6] Different approaches include vibration analysis, 7 wavelet analysis, 8 utilizing fuzzy logic, 9 and Kalman filters. 10 Compensation of the effect of backlash using Stribeck friction was reported in refs.…”

Section: Discussionmentioning

confidence: 99%

Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors

Veres¹,

Cserey²,

Szederkényi³

2013

Robotica

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The majority of current robotic joints are primarily actuated by rotational mechanisms. These electrical drives have substantially different features than the features found in human muscular systems. This paper presents a cost-effective solution to the backlash of a phenomenon known to cause positioning errors and other undesirable dynamic effects in drives. These errors are particularly pronounced when relatively major changes appear in the pre-load conditions of the motor such as in the case of a robotic leg or arm with a high degree of freedom. Current solutions require an accurate time-varying model of drives that is not available in the majority of practical cases. Therefore, in this paper a digitally controlled mechanical solution is proposed which is inspired by the human flexor-extensor mechanism. The idea is to construct an antagonistic actuator pair analogous to the flexor and extensor muscles. In order to obtain good control performance even in the low-speed range, permanent magnet stepper motors were chosen as actuators that are commutated in a digitally closed-loop fashion. The operation of the controlled structure has been verified in a real experimental environment where measurements showed good results and match with previous simulations. Nomenclatureb Measure of a backlash as a distance [m] β Measure of a backlash as an angle [rad] r Radius of a gear [m] τ Torque [Nm] i Current [A] I Nominal current [A] θ Angle [rad] J Inertia [kgm 2 ]

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Section: Discussionmentioning

confidence: 99%

Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors

Veres¹,

Cserey²,

Szederkényi³

2013

Robotica

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“…In this sub-section we consider backlash by adopting a simple description of the impact and the law of conservation of momentum [1,21,8,15,16].…”

Section: Dynamic Backlashmentioning

confidence: 99%

Fractional order modelling of dynamic backlash

Machado

2013

Mechatronics

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This paper studies the dynamical properties of systems with backlash and impact phenomena. This type of non-linearity can be tackled in the perspective of the fractional calculus theory. Fractional and integer order models are compared and their influence upon the emerging dynamics is analysed. It is demonstrated that fractional models can memorize dynamical effects due to multiple micro-collisions.

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“…This approach gives the net change in velocity of each body and the energy exchange during collisions [43][44][45][46][47]. Let us consider the impact of two bodies along surfaces that are normal to the line connecting their centres of mass.…”

Section: Dynamic Backlashmentioning

confidence: 99%