A MODIFIED IMPULSE CONTROLLER FOR IMPROVED ACCURACY OF ROBOTS WITH FRICTION

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

2007

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.

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