This article complements previous entry on general backdrivability exploring the conditions under which a ball screw is backdrivable. Power transmission screws—ball screws and lead screws—are typically used for converting rotary motion to linear motion. But when a load is applied axially…
The simplest velocity estimation method is the Euler approximation that takes the difference of two sampling positions divided by the sampling period. Typically the position measurements are taken with encoders or resolvers which contain stochastic errors which result in enormous…
Main telerobotic platforms
Enrique del Sol - Robotics, Mechatronics & Control Research 