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Robot Joint Backlash Compensation: Dual Encoders and Play Operator Modeling

1 reports · 1 sources

A technical article proposes using dual-encoder measurement and Play operator modeling to compensate for the backlash dead zone in robot joint reducers: it establishes a dual-inertia backlash transmission model, designs a direction-reversal state machine and rate-limited feedforward compensation, and provides a Python simulation implementation path. The article states that three sets of experiments compared three control schemes, but it does not provide verifiable quantitative results.

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  1. 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.

    Guyuehome ·

Related topics

Motion controlRobot hardware and key componentsGuides and practice

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