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TECHNICAL PAPERS

Piecewise-Linear-Gain 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.A.e-mail: david.rathbun@veribox.net

Martin C. Berg

Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, U.S.A.e-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), 139-143 (Apr 12, 2004) (5 pages) doi:10.1115/1.1649979 History: Received December 04, 2002; Revised August 12, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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References

Yang,  S., and Tomizuka,  M., 1998, “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.
Rathbun,  D. B., Berg,  M. C., and Buffinton,  K. W., 2004, “Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction,” ASME J. Dyn. Syst., Meas. Control, 126(1), pp. 131–138.
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.

Figures

Grahic Jump Location
Pulse Width Control (PWC) algorithm
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Performance measure applied to the SFB plant equivalent to the y position dynamics of the end-effector of the industrial robot and the Optimal Rigid Body PWC Law with its gain reduced to 64.5% of the nominal value
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Piecewise-linear PWC gain function to approximate that of the SFB plant equivalent to the y position dynamics of the end-effector of the industrial robot
Grahic Jump Location
Performance measure applied to the SFB plant equivalent to the y position dynamics of the end-effector of the industrial robot and the piecewise-linear-gain PWC law
Grahic Jump Location
y position response 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 the piecewise-linear-gain PWC law
Grahic Jump Location
y position response of the end-effector of the industrial robot to a y position slew command with the piecewise-linear-gain PWC law

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