Article

Robot Joint Backlash Compensation: From Dual-Encoder Principles to Play Operator Modeling and Python Simulation

The article addresses the backlash and lost motion problem in robot joint reducers by building a dual-inertia backlash transmission model described with a Play operator, and designing a direction-reversal state machine with rate-limited feedforward compensation. It quantitatively compares three control schemes through three sets of experiments and provides a Python simulation implementation path.

Part of the event: Robot Joint Backlash Compensation: Dual Encoders and Play Operator Modeling

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