Theoretical and experimental investigation of backlash effects on a 2-DOF robotic balancing table
Keywords:2-DOF robot, balancing table, backlash, observer, control
In this study, backlash effects on a 2-DOF robotic balancing table are investigated. The study focuses on developing a backlash detecting system which consists of a backlash observer. Different backlash approaches are analyzed and a backlash modeling strategy for a 2-DOF robotic balancing table is developed. Working principles of the balancer is introduced and a detailed mathematical model is provided. Equation of motion of the system and backlash observing mechanism are combined to see the effects of backlash on motion. To see the working performance of the methodology introduced in this study, motion of a ball on the robotic balancing table is modeled with including the backlash. A simulation environment is developed to test the whole system proposed. In order to verify the results obtained in the simulation studies, an experimental setup of robotic ball balancing table is used. Position feedback of the ball is obtained via a camera attached at the top of the system. Simulation and experimental results show that better control of a robotic balancing table (thus that of ball position) can be achieved when the backlash effects are observed and fed into the system.