The study of backlash compensation and its application in the robot checking the filter

The method based on backlash feedforward compensation is discussed. Feedforward control is realised by the prediction technique so that the system has relatively high position precision under the low cost gearbox. In order to verify the effectiveness of this method, the trajectory of end effector is designed in the form of lines in applying the method to the robot that checks the filters. According to the optimisation criterion of the motors frequency, parameters of the two-trapezium speed curve of the end effector of the robot are calculated. It is concluded from the experiments that the robot maximum error tracking fold line of filter falls within the prescribed range.