Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors

@article{Veres2013BioinspiredBR,
  title={Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors},
  author={J{\'o}zsef Veres and Gy{\"o}rgy Cserey and G{\'a}bor Szederk{\'e}nyi},
  journal={Robotica},
  year={2013},
  volume={31},
  pages={789-796}
}
The majority of current robotic joints are primarily actuated by rotational mechanisms. These electrical drives have substantially different features than the features found in human muscular systems. This paper presents a cost-effective solution to the backlash a phenomenon known to cause positioning errors and other undesirable dynamic effects in drives. These errors are particularly pronounced when relatively major changes appear in the preload conditions of the motor such as in the case of… CONTINUE READING