Control of an actively constrained robotic joint for passive deployment applications

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...

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Bibliographic Details
Main Authors:	Adam V.C. Reedman, Kaddour Bouazza-Marouf
Format:	Default Article
Published:	2001
Subjects:	Mechanical engineering not elsewhere classified Backlash cancellation Computed-torque control Robotics Mechanical Engineering not elsewhere classified Mechanical Engineering
Online Access:	https://hdl.handle.net/2134/5149
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id	rr-article-9560270
record_format	Figshare
spelling	rr-article-95602702001-01-01T00:00:00Z Control of an actively constrained robotic joint for passive deployment applications Adam V.C. Reedman (7200998) Kaddour Bouazza-Marouf (1248348) Mechanical engineering not elsewhere classified Backlash cancellation Computed-torque control Robotics Mechanical Engineering not elsewhere classified Mechanical Engineering 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. 2001-01-01T00:00:00Z Text Journal contribution 2134/5149 https://figshare.com/articles/journal_contribution/Control_of_an_actively_constrained_robotic_joint_for_passive_deployment_applications/9560270 CC BY-NC-ND 4.0
institution	Loughborough University
collection	Figshare
topic	Mechanical engineering not elsewhere classified Backlash cancellation Computed-torque control Robotics Mechanical Engineering not elsewhere classified Mechanical Engineering
spellingShingle	Mechanical engineering not elsewhere classified Backlash cancellation Computed-torque control Robotics Mechanical Engineering not elsewhere classified Mechanical Engineering Adam V.C. Reedman Kaddour Bouazza-Marouf Control of an actively constrained robotic joint for passive deployment applications
description	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.
format	Default Article
author	Adam V.C. Reedman Kaddour Bouazza-Marouf
author_facet	Adam V.C. Reedman Kaddour Bouazza-Marouf
author_sort	Adam V.C. Reedman (7200998)
title	Control of an actively constrained robotic joint for passive deployment applications
title_short	Control of an actively constrained robotic joint for passive deployment applications
title_full	Control of an actively constrained robotic joint for passive deployment applications
title_fullStr	Control of an actively constrained robotic joint for passive deployment applications
title_full_unstemmed	Control of an actively constrained robotic joint for passive deployment applications
title_sort	control of an actively constrained robotic joint for passive deployment applications
publishDate	2001
url	https://hdl.handle.net/2134/5149
_version_	1797740069087346688

Control of an actively constrained robotic joint for passive deployment applications

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