A MODIFIED IMPULSE CONTROLLER FOR IMPROVED ACCURACY OF ROBOTS WITH FRICTION

Stephen van Duin, Christopher D. Cook, Zheng Li, Gursel Alici

Abstract

This paper presents a modified impulse controller to improve the steady state positioning of a SCARA robot having characteristics of high non-linear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. The impulsive part uses short width torque pulses to provide small impacts of force to overcome static fiction and move a robot manipulator towards its reference position. It has been shown that this controller can greatly improve a robot’s accuracy. However, the system in attempting to reach steady state will inevitably enter into a small limit cycle whose amplitude of oscillation is related to the smallest usable impulse. It is shown in this paper that by modifying the impulse controller to adjust the width of successive pulses, the limit cycle can be shifted up or down in position so that the final steady state error can be even further reduced.

References

  1. Armstrong-Hélouvry, B., 1991, “Control of Machines with Friction” Kluwer Academic Publishers, 1991, Norwell MA.
  2. Armstrong-Hélouvry, B., Dupont, P., and Canudas de Wit, C., 1994, “A survey of models, analysis tools and compensation methods for the control of machines with friction” Automatica, vol. 30(7), pp. 1083-1138.
  3. Canudas de Wit, C., Olsson, H., Åström, K. J., 1995 ”A new model for control of systems with friction” IEEE Tansactions on Automatic Control, vol. 40 (3), pp. 419-425.
  4. Dahl, P., 1968, “A solid friction model” Aerospace Corp., El Segundo, CA, Tech. Rep. TOR-0158(3107-18)-1.
  5. Dahl, P, 1977, “Measurement of solid friction parameters of ball bearings” Proc. of 6th annual Symp. on Incremental Motion, Control Systems and Devices, University of Illinois, ILO.
  6. Hojjat, Y., and Higuchi, T., 1991 “Application of electromagnetic impulsive force to precise positioning” Int J. Japan Soc. Precision Engineering, vol. 25 (1), pp. 39-44.
  7. Johannes, V. I.., Green, M.A., and Brockley,C.A., 1973, “The role of the rate of application of the tangential force in determining the static friction coefficient”, Wear, vol. 24, pp. 381-385.
  8. Johnson, K.L., 1987, “Contact Mechanics” Cambridge University Press, Cambridge.
  9. Kato, S., Yamaguchi, K. and Matsubayashi, T., 1972, “Some considerations of characteristics of static friction of machine tool slideway” J. o Lubrication Technology, vol. 94 (3), pp. 234-247.
  10. Li, Z, and Cook, C.D., 1998, ”A PID controller for Machines with Friction” Proc. Pacific Conference on Manufacturing, Brisbane, Australia, 18-20 August, 1998, pp. 401-406.
  11. Olsson, H., 1996, “Control Systems with Friction” Department of Automatic Control, Lund University, pp.46-48.
  12. Popovic, M.R., Gorinevsky, D.M., Goldenberg, A.A., 2000, “High precision positioning of a mechanism with non linear friction using a fuzzy logic pulse controller” IEEE Transactions on Control Systems Technology, vol. 8 (1) pp. 151-158.
  13. Rabinowicz, E., 1958, “The intrinsic variables affecting the stick-slip process,” Proc. Physical Society of London, vol. 71 (4), pp.668-675.
  14. Rathbun, D,. Berg, M. C., Buffinton, K. W., 2004, “Piecewise-Linear-Gain Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction”, ASME J .of Dynamic Systems, Measurement and Control, vol. 126, pp. 139-126.
  15. Richardson, R. S. H., and Nolle, H., 1976, “Surface friction under time dependant loads” Wear, vol. 37 (1), pp.87-101.
  16. Wu, R,. Tung, P., 2004, “Fast Positioning Control for Systems with Stick-Slip Friction”, ASME J .of Dynamic Systems, Measurement and Control, vol. 126, pp. 614-627.
  17. Yang, S., Tomizuka, M., 1988, “Adaptive pulse width control for precise positioning under the influence of stiction and Coulomb friction” ASME J .of Dynamic Systems, Measurement and Control, vol. 110 (3), pp. 221-227.
Download


Paper Citation


in Harvard Style

van Duin S., D. Cook C., Li Z. and Alici G. (2007). A MODIFIED IMPULSE CONTROLLER FOR IMPROVED ACCURACY OF ROBOTS WITH FRICTION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 165-173. DOI: 10.5220/0001618901650173


in Bibtex Style

@conference{icinco07,
author={Stephen van Duin and Christopher D. Cook and Zheng Li and Gursel Alici},
title={A MODIFIED IMPULSE CONTROLLER FOR IMPROVED ACCURACY OF ROBOTS WITH FRICTION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={165-173},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001618901650173},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A MODIFIED IMPULSE CONTROLLER FOR IMPROVED ACCURACY OF ROBOTS WITH FRICTION
SN - 978-972-8865-83-2
AU - van Duin S.
AU - D. Cook C.
AU - Li Z.
AU - Alici G.
PY - 2007
SP - 165
EP - 173
DO - 10.5220/0001618901650173