RESEARCH PAPERS: Mechanisms and Robotics

Modeling of the Backlash Hysteresis Nonlinearity

[+] Author and Article Information
P. Ge, M. Jouaneh

Department of Mechanical Engineering, University of Rhode Island, Kingston, RI 02881

J. Mech. Des 120(3), 408-413 (Sep 01, 1998) (6 pages) doi:10.1115/1.2829167 History: Received March 01, 1996; Revised June 01, 1998; Online December 11, 2007


In this paper, the backlash hysteresis nonlinearity is examined, and a mathematical model based on the particular behavior of the backlash is developed. A geometrical interpretation of this model using switching operators is provided to facilitate an understanding of it. Simulation of output prediction of the backlash mechanism using an arbitrary input signal is performed to verify the correctness of the developed model. A linearization scheme based on the model is also developed to compensate for the backlash nonlinearity. The scheme was applied for tracking an arbitrary signal similar to that used in the modeling. The results show that our model-based linearization scheme although running in an open loop fashion, provides a simpler way to perform tracking control for structures with backlash hysteresis nonlinearity.

Copyright © 1998 by The American Society of Mechanical Engineers
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