NDLI: Performance improvements for stick-slip positioners

Content Provider	IEEE Xplore Digital Library
Author	Bergander, A. Breguet, J.M.
Copyright Year	2003
Description	Author affiliation: Laboratoire de systemes robotiques, Swiss Fed. Inst. of Technol., Lausanne, Switzerland (Bergander, A.; Breguet, J.M.)
Abstract	Stick-slip actuators are frequently used systems for micro- and nano positioning because of their high dynamics and simple design. Driving at high velocities however is restricted, as either the actuators are very stiff and have a short stroke, or they have a large deformation but low natural frequencies. Beyond a certain frequency, which is determined by the actuators' natural frequency, the masses to be moved, and the damping ratios, the system cannot be driven in a controlled manner any more, as the velocity no longer increases linearly with the driving frequency and presents a "chaotic" behavior. This behavior is a result of a vibration after one step not being completely damped out before the next step occurs. In this paper, we propose a method to actuate stick-slip actuators with low natural frequencies at comparatively high driving frequencies, which permits to increase the velocity compared to the velocity obtained with a simple saw tooth signal of the same frequency. The driving signal for the actuators is convolved with a pulse sequence that cancels occurring vibration, a method that is commonly called "input shaping". Particular aspects of signal shaping for stick-slip drives will be discussed, simulation as well as measured experimental results are given.
Sponsorship	IEEE Robotics & Autom. Soc. City of Nagoya Nagoya Urban Ind. Promotion Corp. Chubu Ind. Advancement Center Nagoya Univ. Chubu Sci. & Technol. Center Nagoya City Sci. Museum Kagawa Univ. Gifu Univ. Int. Symppsium on Micromechatronics & Human Sci. Committee
Starting Page	59
Ending Page	66
File Size	628133
Page Count	8
File Format	PDF
ISBN	0780381653
DOI	10.1109/MHS.2003.1249910
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-19
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Frequency Hydraulic actuators Damping Velocity control Control systems Chaos Teeth Pulse shaping methods Drives Particle measurements
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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