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High precision positioning of a mechanism with nonlinear friction.
| Content Provider | CiteSeerX |
|---|---|
| Author | Popovic, M. R. Gorinevsky, D. M. Goldenberg, A. A. |
| Abstract | A new approach to very accurate positioning of mechanical devices with nonlinear (stick-slip) friction is presented in this paper. The proposed controller applies narrow torque pulses to move a mechanism to a desiredposition despite nonlinear friction. The pulse shapes generated by the controller are computed using a fuzzy logic approximation of the dependence between the desired displacement and the torque pulse shape. The closed-loop stability conditions for the proposed controller are derived taking into consideration a random variation of friction. A detailed experimental study of the system response to different torque pulse shapes and a detailed controller design are presented for a direct-drive mechanism. In the experiments it was demonstrated that the proposed controller achieves positioning accuracy which is within the limits of the position encoder resolution. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Nonlinear Friction High Precision Positioning System Response Accurate Positioning Detailed Controller Design Controller Applies Desired Displacement Direct-drive Mechanism Different Torque Pulse Shape Mechanical Device New Approach Torque Pulse Shape Position Encoder Resolution Detailed Experimental Study Torque Pulse Fuzzy Logic Approximation Random Variation Pulse Shape Closed-loop Stability Condition |
| Content Type | Text |
