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TECHNICAL PAPERS

Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction

[+] Author and Article Information
David B. Rathbun

The Insitu Group, 54-D East Bingen Point Way, Bingen, WA 98605, U.S.Ae-mail: david.rathbun@veribox.net

Martin C. Berg

Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, U.S.Ae-mail: berg@u.washington.edu

Keith W. Buffinton

Department of Mechanical Engineering, Bucknell University, Lewisburg, PA 17837, U.S.A.e-mail: buffintk@bucknell.edu

J. Dyn. Sys., Meas., Control 126(1), 131-138 (Apr 12, 2004) (8 pages) doi:10.1115/1.1649978 History: Received December 04, 2001; Revised August 12, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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References

Armstrong-Helouvry,  B., Dupont,  P., and De Witt,  C. C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30, pp. 1083–1138.
Spector,  V. A., and Flashner,  H., 1990, “Modeling and Design Implications of Noncollocated Control in Flexible Systems,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 186–193.
Yang,  S., and Tomizuka,  M., 1988, “Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction,” ASME J. Dyn. Syst., Meas., Control, 110, pp. 221–227.
Yang, S., and Tomizuka, M., 1988, “Pulse Control for Vibration Attenuation in Nonlinear Mechanical Systems,” Symposium on Robotics, ASME WAM, DSC, 11 , pp. 103–114.
Rathbun, D. B., 2001, “Pulse Modulation Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction,” Ph.D. dissertation, Department of Electrical Engineering, University of Washington, Seattle.
Kalman,  R. E., and Bertram,  J. E., 1960, “Control System Analysis and Design via the Second Method of Lyapunov, Part II: Discrete-Time Systems,” ASME J. Basic Eng., 82, pp. 394–400.
Thomson, W. T., 1981, Theory of Vibration with Applications, Prentice-Hall, Englewood Cliffs, New Jersey.

Figures

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Six axis industrial robot and laser tracker position sensor
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Standard Rigid Body (SRB) plant
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Standard Flexible Body (SFB) plant
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Pulse Width Control (PWC) algorithm
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y position response under PWC of the end-effector of the industrial robot to a y position slew command
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y position response under PWC of the SFB plant equivalent to the y position dynamics of the end-effector of the industrial robot to a y position step command
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Bounds on the steady-state y position response of the SFB plant to a force pulse
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Hc(e),HL(2e) and HU(2e) functions for determining whether the sufficient conditions for stability or self-sustained oscillation are satisfied
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y position response under PWC of the SFB plant equivalent to the y position dynamics of the end-effector of the industrial robot to a y position step command, with gain of the control law reduced to guarantee stability
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y position response under PWC of the end-effector of the industrial robot to a y position slew command, with the gain of the control law reduced to guarantee stability

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