Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial

The problem of feedback control of mechanisms with joint clearance is analysed. Various control strategies are reviewed: impactless trajectories with persistent contact, control through collisions, the stabilization of equilibrium points, and trajectory tracking control. This article sets a general control framework, brings some preliminary answers and leaves some problems open, which are mentioned throughout the article and in the conclusions.

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