The study of backlash compensation and its application in the robot checking the filter

Mei, Zhi-qian; Yang, Rui; Chen, Liang; Li, Guang-Bu

doi:10.1007/s00170-003-1820-x

Cited by 11 publications

(5 citation statements)

References 6 publications

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“…Simulation results show that the proposed compensation scheme improves the tracking performance of a nonlinear clearance system. Mei et al [40] discussed a method based on the clearance feedforward compensation. On this basis, clearance compensation was achieved by adding the number of compensation pulses corresponding to the clearance measured at the initial and reverse direction points of the desired trajectory of the joint.…”

Section: Feedforward Compensation Methodsmentioning

confidence: 99%

“…Feedforward control, combined with clearance prediction technology, reduced the maximum position error of the system by 92.9% using low-cost gearboxes and had high positioning accuracy. Mei et al [40] discussed a method based on the clearance feedforward compensation. On this basis, clearance compensation was achieved by adding the number of compensation pulses corresponding to the clearance measured at the initial and reverse direction points of the desired trajectory of the joint.…”

Section: Feedforward Compensation Methodsmentioning

confidence: 99%

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Review and Comparison of Clearance Control Strategies

et al. 2022

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The nonlinearity of clearance has a significant influence on the performance of a system while ensuring the reliability of the variable-speed transmission, and hinders the development of the controlled object according to the predetermined trajectory. Aimed at the transmission clearance problem in different systems, this study summarizes the existing literature and provides a reference for the research and compensation of clearance characteristics. First, the influence of clearance on system performance is analyzed and summarized, and it is shown that the existence of clearance causes problems, such as system response delay and limited cycle oscillation. Then, the control strategies for studying clearance are introduced, which are mainly divided into the control strategy based on the clearance model and the non-clearance model control strategy, and these are respectively explained. Finally, some opinions are proposed for the perfection and development of future clearance nonlinear control theory. Ideas for realizing the suppression of the adverse effects of clearances have their characteristics, and in practical applications, the difficulty of implementation and cost control should be comprehensively considered. In the future, to cope with complex and changeable environments, the clearance control strategy will continue to be optimized.

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Section: Feedforward Compensation Methodsmentioning

confidence: 99%

Section: Feedforward Compensation Methodsmentioning

confidence: 99%

Review and Comparison of Clearance Control Strategies

et al. 2022

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“…11 Several methods based on backlash feedforward compensation were proposed to minimize the effect of the backlash. 12,13 Dual-motor drive system with anti-backlash control is widely used in parallel manipulators, pendulums, and large-size turntables to eliminate the transmission backlash; [14][15][16] however, it is less used in robots.…”

Section: Introductionmentioning

confidence: 99%

An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains

Sun

Fang

2018

Advances in Mechanical Engineering

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Industrial robots have advantages of large workspace, compact structure, and good flexibility, but the stiffness of the robot is relatively weak due to the compliance of reducers and its series structure. In this article, a five-degree-of-freedom robot with non-backlash driving is presented. A parallelogram structure with diagonal driven is used for robotic arms which is useful to improve the overall stiffness of the robot. First, the detailed structure of the robot is introduced, and the kinematic characteristics of the robot are analyzed. Second, a stiffness approximation method is proposed to evaluate the stiffness of the robot in the global workspace. The overall deformations under certain external loads which are composed of deflection deformations and stretching deformations are calculated based on the strain energy method and the properties of the components. The effectiveness of the approximation method used for evaluating the stiffness of the robot which has hybrid open-and closed-loop kinematic chains is verified through the finite element analysis results and the experimental results. Finally, the stiffness evaluation results show that the stiffness of the proposed robot is better than that of the industrial robot, which makes it more suitable for most of the industrial applications, such as handling, palletizing, and drilling.

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“…The effects of backlash in robotic systems can be reduced by either using identification techniques, [5][6][7][8] control techniques, 9,10 compensation techniques, 11 or by using precision gears (e.g., as in most Stäubli industrial robots). However, the last solution raises the manufacturing cost of industrial robots and is practically insufficient to eliminate the backlash effect because there are several sources of the effect that are impossible to remove completely.…”

Section: Introductionmentioning

confidence: 99%

Modeling and assessment of the backlash error of an industrial robot

2012

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SUMMARYThis paper proposes an experimental approach for evaluating the backlash error of an ABB IRB 1600 industrial serial robot under various conditions using a laser interferometer measurement instrument. The effects of the backlash error are assessed by experiments conducted on horizontal and vertical paths. A polynomial model was used to represent the relationship between the backlash error and the robot configuration. A strategy based on statistical tests was developed to choose the degree of polynomial representing the effect of the tool center point (TCP) speed and payload. Results show that the backlash error strongly affects the repeatability of the industrial robot. Statistical analyses prove that the backlash is highly dependent on both robot configuration and TCP speed, whereas it remains nearly unaffected by changes in the payload. It was discovered that the backlash error as measured at the TCP may exceeds 100 μm, and that the positive backlash error increases and the negative backlash error decreases when there is increase in TCP speed.

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The study of backlash compensation and its application in the robot checking the filter

Cited by 11 publications

References 6 publications

Review and Comparison of Clearance Control Strategies

Review and Comparison of Clearance Control Strategies

An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains

Modeling and assessment of the backlash error of an industrial robot

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