Investigation on Phenomenon that can be used as Measures in Detecting Total Backlash

This paper presented and investigated the phenomenon that can be used as measures in detecting the magnitude and change of total backlash without using additional sensors such as accelerometer or torque sensor. The phenomenon is that the frequency response characteristics obtained under the condition of adequately reduced motor input voltage can be greatly affected by the total backlash in spite of the change of small magnitude. The availability of the phenomenon as measures is verified through qualitative analysis, simulation, and experiment. We thought that the presented phenomenon can be used as measures to detect the magnitude and change of total backlash in a geared servo system without using additional sensors in the near future.