| Autor: |
Boschliakov, A. A., Zelentsov, V. V., Antoine, S. |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings; 2019, Vol. 2171 Issue 1, p190009-1-190009-7, 7p |
| Abstrakt: |
The clearance can cause a lot of problems in the mechanical system, in particular when they have to be precise and rapid. Indeed, the clearance makes it difficult to position accurately an articulation, and the backlash causes rebound phenomena. System with feedback frequently have self-sustaining oscillations. This paper is about proving the feasibility of improving the precision and stability of robot articulation with clearance in the gearbox, using specific control strategy. All those strategies are based on measurement of the relative position of the gears in the gearbox by measuring the angle of rotation of the input and the output of the gearbox. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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