Backlash compensation in motion control systems

A method for backlash compensation in motion control systems, the method comprising:

• homing a payload of a motion control system;
• performing a tooth-pitch non-uniformity procedure on the motion control system to identify a non-uniformity correction;
• generating a plurality of backlash measurements corresponding to a plurality of move sequences, wherein each backlash measurement is computed using a process comprising:
• selecting a move sequence for operating the motion control system,
• executing the move sequence with the non-uniformity correction,
• computing a backlash measurement describing backlash of one or more components of the motion control system during the move sequence, and
• storing the backlash measurement and the move sequence;
• and
• training a machine learning model for use in backlash correction using the plurality of backlash measurements and the plurality of move sequences.

A method for backlash compensation in motion control systems, the method comprising:

• during normal operation of a motion control system, performing a correction process comprising:
• receiving a request to execute a new move sequence;
• if the new move sequence includes a direction reversal for the motion control system, estimate a new backlash correction using a backlash lookup table and apply the new backlash correction to the new move sequence;
• and
• executing the new move sequence.

A method for backlash compensation in motion control systems, the method comprising:

• during normal operation of a motion control system, performing a correction process comprising:
• receiving a request to execute a new move sequence;
• if the new move sequence includes a direction reversal for the motion control system, estimate a new backlash correction using a machine learning model and apply the new backlash correction to the new move sequence;
• and
• executing the new move sequence,
• wherein the machine learning model is trained using by measuring backlash of the motion control system when executing a training sequence of moves.