Backlash Compensation in STS3215 Servo Actuators

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◦) to 1–2 counts (approximately 0.09◦ to 0.18◦), approaching encoder resolution limits. The method does not require mechanical…