NDLI: Impulse control of harmonic drives with friction in precision robotic system

Content Provider	IEEE Xplore Digital Library
Author	Shao-wen Le Gang-jun Li
Copyright Year	2011
Description	Author affiliation: Electromechanical engineering Department, Chengdu ElectroMechanical College, China (Shao-wen Le; Gang-jun Li)
Abstract	The friction model with the effects of friction and transmission flexibility of harmonic drives system is used for impulse control design in precision robotic control system. First, the physics character of impulse in momentum, motion and energy are analysed and formulated, then experimental response based on a new pulse shape which is consisted of two harmonic expansions is studied, the first harmonic is the main pulse to drive the arm to move a displacement, the second harmonic has two functions: it enforces the main harmonic pulse in its first half that will help it to eliminate the dead zone, and provides a minus pulse in its second half to stop the arm motion quickly. Finally an impulse feedback controller is developed. Simulation and experiments show the effectiveness of the proposed controller.
Starting Page	2523
Ending Page	2526
File Size	529384
Page Count	4
File Format	PDF
ISBN	9781612841809
e-ISBN	9781612841816
DOI	10.1109/FSKD.2011.6019938
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Potential energy Frequency modulation Friction impulse control harmonic drives Harmonic analysis Manipulators Control systems precision systems Springs friction model
Content Type	Text
Resource Type	Article

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