NDLI: Compensation of backlash for teleoperated geared motor drive systems

Content Provider	IEEE Xplore Digital Library
Author	Prasanga, D.K. Mizoguchi, T. Tanida, K. Ohnishi, K.
Copyright Year	2013
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Ohnishi, K.) \|\| Grad. Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan (Prasanga, D.K.; Mizoguchi, T.; Tanida, K.)
Abstract	Robotics is a major field that is being researched for decades. With the use of robotic technology, applications of the microscopic level to the places where the human cannot reach are facilitated. When it comes to the larger robots, large actuators and drives have to be used to obtain the desired amount of power and the force or torque needed. As the electric motors have a limitation of torque output with its capacity, the most desirable way is to use the gears. However this introduces large inertia, backlash and friction to the system. If the system is used for the transmission of haptic information in bilaterally controlled systems, it greatly deteriorates the performance of the system and necessitates a compensation for the backlash caused by the gears. This paper introduces a method to compensate the backlash generated by the geared system. This method uses two identical counter operating drives per joint to compensate the backlash effect. Experiments are carried out for the proposed method to validate its accuracy.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4067
Ending Page	4072
File Size	1918633
Page Count	6
File Format	PDF
ISBN	9781479902248
ISSN	1553572X
DOI	10.1109/IECON.2013.6699787
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-10
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Gears Torque Actuators Aerospace electronics End effectors Joints Twist control Gear backlash compensation Haptics Bilateral control Teleoperation
Content Type	Text
Resource Type	Article

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