{"id":1141,"date":"2026-03-12T23:01:08","date_gmt":"2026-03-12T20:01:08","guid":{"rendered":"https:\/\/robonine.com\/?p=1141"},"modified":"2026-03-12T23:19:24","modified_gmt":"2026-03-12T20:19:24","slug":"backlash-compensation-in-sts3215-servo-actuators","status":"publish","type":"post","link":"https:\/\/robonine.com\/es\/backlash-compensation-in-sts3215-servo-actuators\/","title":{"rendered":"Backlash Compensation in STS3215 Servo Actuators"},"content":{"rendered":"","protected":false},"excerpt":{"rendered":"<p>This work presents a practical backlash compensation method for Feetech STS3215 servo actuators using a dual-motor configuration with controlled pretension. Experimental results show a reduction of effective output backlash from 14.78 encoder counts (approximately 1.30\u25e6) to 1\u20132 counts (approximately 0.09\u25e6 to 0.18\u25e6), approaching encoder resolution limits. The method does not require mechanical modification and maintains approximately 80 % of total torque capacity. The technique is suitable for low-cost robotics and educational motion<br \/>\ncontrol systems.<\/p>\n","protected":false},"author":231,"featured_media":1147,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"inline_featured_image":false},"categories":[1],"tags":[],"class_list":["post-1141","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"acf":[],"_links":{"self":[{"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/posts\/1141","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/users\/231"}],"replies":[{"embeddable":true,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/comments?post=1141"}],"version-history":[{"count":10,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/posts\/1141\/revisions"}],"predecessor-version":[{"id":1163,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/posts\/1141\/revisions\/1163"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/media\/1147"}],"wp:attachment":[{"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/media?parent=1141"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/categories?post=1141"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robonine.com\/es\/wp-json\/wp\/v2\/tags?post=1141"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}