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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| Main Authors: | , |
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| Format: | Default Article |
| Published: |
2001
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| Subjects: | |
| Online Access: | https://hdl.handle.net/2134/5149 |
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