2023
A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control
RA-L 2023
This letter focuses on the design and control of a novel seven-degree-of-freedom (7-DOF) robotic manipulator (D-Arm) to address the issue of backlash nonlinearity coupling unknown disturbance through the dual-motor anti-backlash control technology. Specifically, the first three axes of the D-Arm nea