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Virtual Measurement of the Backlash Gap in Industrial Manipulators

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Swarm, Evolutionary, and Memetic Computing and Fuzzy and Neural Computing (SEMCCO 2019, FANCCO 2019)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1092))

Abstract

Industrial manipulators are robots used to replace humans in dangerous or repetitive tasks. Also, these devices are often used for applications where high precision and accuracy is required. The increase of backlash caused by wear, that is, the increase of the amount by which teeth space exceeds the thickness of gear teeth, might be a significant problem, that could lead to impaired performances or even abrupt failures. However, maintenance is difficult to schedule because backlash cannot be directly measured and its effects only appear in closed loops. This paper proposes a novel technique, based on an Evolutionary Algorithm, to estimate the increase of backlash in a robot joint transmission. The peculiarity of this method is that it only requires measurements from the motor encoder. Experimental evaluation on a real-world test case demonstrates the effectiveness of the approach.

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Notes

  1. 1.

    https://github.com/CMA-ES/pycma.

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Author information

Authors and Affiliations

  1. Politecnico di Torino, Turin, Italy

    Eliana Giovannitti & Giovanni Squillero

  2. Université Paris-Saclay, Saclay, France

    Alberto Tonda

  3. UMR 782 Inria, Thiverval-Grignon, France

    Alberto Tonda

Authors
  1. Eliana Giovannitti
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  2. Giovanni Squillero
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  3. Alberto Tonda
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Corresponding author

Correspondence to Eliana Giovannitti .

Editor information

Editors and Affiliations

  1. University of Maribor, Maribor, Slovenia

    Aleš Zamuda

  2. Electronics and Communication Sciences Unit, Indian Statistical Institute, Kolkata, West Bengal, India

    Swagatam Das

  3. Division of Control and Instrumentation, Nanyang Technological University, Singapore, Singapore

    Ponnuthurai Nagaratnam Suganthan

  4. Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India

    Bijaya Ketan Panigrahi

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Giovannitti, E., Squillero, G., Tonda, A. (2020). Virtual Measurement of the Backlash Gap in Industrial Manipulators. In: Zamuda, A., Das, S., Suganthan, P., Panigrahi, B. (eds) Swarm, Evolutionary, and Memetic Computing and Fuzzy and Neural Computing. SEMCCO FANCCO 2019 2019. Communications in Computer and Information Science, vol 1092. Springer, Cham. https://doi.org/10.1007/978-3-030-37838-7_17

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  • DOI: https://doi.org/10.1007/978-3-030-37838-7_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-37837-0

  • Online ISBN: 978-3-030-37838-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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