Improved Positional Accuracy of Robots with High Nonlinear Friction using a Modified Impulse Controller

DOI10.1007/978-3-540-85640-5_9zbMath1188.93087OpenAlexW1539877728MaRDI QIDQ3564537

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

Publication date: 2 June 2010

Published in: Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-85640-5_9

zbMATH Keywords

limit cycleaccuracystick-slipimpulse controlstatic frictionfriction modelimpulse shape

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

Leaderless and leader-following consensus of heterogeneous second-order multi-agent systems on time scales: an asynchronous impulsive approach

Cites Work

• A survey of models, analysis tools and compensation methods for the control of machines with friction
• A new model for control of systems with friction
• Unnamed Item

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