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백주현(Joo Hyun Baek),정의봉(Yui Bong Jung),허기영(Gyee Young Hur),김지억(Jie Eok Kim),김진천(Jin Cheon Kim) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
This paper presents an backlash estimation concept to estimate the magnitude of backlash in a servo system with a gear reducer. The concept to estimate the magnitude of backlash is based on the change of frequency response characteristic, in particular, the change of anti-resonant frequency and resonant frequency, due to the change of backlash magnitude. This paper theoretically shows that the influence of backlash to change the frequency response characteristics can be amplified by the magnitude of motor input voltage. We think that it is possible to use the proposed concept for estimating the change and magnitude of backlash in a servo system with a gear reducer.