Anti-backlash gear control device

An anti-backlash gear system, comprising:

• a first motor operable to apply torque to a first gear;
• a second motor operable to apply torque to a second gear;
• a load gear operably connected to the first gear and the second gear, such that rotation of at least one of the first gear and the second gear causes the load gear to move;
• and
• an anti-backlash gear control device, comprising
• a first bias module operable to generate a first bias to be applied to the first motor operable with the first gear,
• a second bias module operable to generate a second bias, opposite the first bias, to be applied to the second motor operable with the second gear, and
• a command module operable to receive a drive command and output first and second command signals,
• wherein the command module outputs at least one of first and second command signals based on the drive command that are summed, by a summer, with the first and second biases, respectively, to generate first and second drive signals to operate the first and second motors to drive the first and second gears, respectively, and
• wherein the first drive signal equals the first bias, or the second drive signal equals the second bias to bias the first gear or the second gear, respectively, in contact with the load gear during operation.

A method for controlling backlash within a gear system, the method comprising:

• applying a first bias to a first motor operable with a first gear;
• applying a second bias, opposite the first bias, to a second motor operable with a second gear, wherein the first gear and the second gear are operably connectable to a load gear, such that rotation of at least one of the first gear and the second gear causes the load gear to move;
• receiving a drive command by a command module operable to output first and second command signals;
• outputting at least one of first and second command signals based on the drive command that are summed, by a summer, with the first and second biases, respectively;
• and
• generating first and second drive signals to operate the first and second motors to drive the first and second gears, respectively, wherein the first drive signal equals the first bias, or the second drive signal equals the second bias to bias the first gear or the second gear, respectively, in contact with the load gear during operation.