Experimental backlash study in mechanical manipulators

Authors:
Miguel f. m. Lima;J. a. tenreiro Machado;Manuel Crisóstomo
Affiliations:
Department of electrical engineering, superior school of technology, polytechnic institute of viseu, 3504-510 viseu, portugal;Department of electrical engineering, institute of engineering, polytechnic institute of porto, 4200-072 porto, portugal;Institute of systems and robotics, department of electrical and computer engineering, university of coimbra, polo ii, 3030-290 coimbra, portugal
Venue:
Robotica
Year:
2011

Citing 3
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Abstract

The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.