Paper Title:
Adaptive Impulse Controller Design of Harmonic Drives System with Friction
  Abstract

The friction model with the effects of friction and transmission flexibility of harmonic drives system is used for adaptive impulse control design in precision control system. 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. An adaptive impulse feedback controller is developed based on it. Simulation and experiments show the effectiveness of the proposed controller, robustness of dead zone elimination to friction variation can be guaranteed.

  Info
Periodical
Edited by
Zeyong Yin, Chengyu Jiang, Datong Qin, Peixin Qiao and Geng Liu
Pages
543-546
DOI
10.4028/www.scientific.net/AMM.86.543
Citation
G. J. Li, "Adaptive Impulse Controller Design of Harmonic Drives System with Friction", Applied Mechanics and Materials, Vol. 86, pp. 543-546, 2011
Online since
August 2011
Authors
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Hong Lin Li, Peng Bing Zhao
Industrial Robotics and Automation
Abstract:There are friction characteristics, random disturbance, load variation and other nonlinear influencing factors in the multi-joint manipulator...
713
Authors: Lu Juan Shen, Ye Bao, Jian Ping Cai
Chapter 2: Intelligent and Adaptive Control
Abstract:In this paper, a class of gun control system of tank is considered with uncertain parameters and the backlash-like hysteresis which modeled...
88
Authors: Er Chao Li, Zhan Ming Li
Chapter 3: Mechatronics and Automation
Abstract:In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown...
2117
Authors: Zheng Mei Cheng, Xiao Ding Guo, Xiao Ke Chen, Jing Xin Deng
Abstract:The voltage stability of test power source system about small locomotive is poor, and the response speed is slow. The theory of adaptive...
240
Authors: Li Ping Fan, Ying Song, Jun Zhang
Chapter 5: Electronic Materials and Applications
Abstract:Bioprocesses have high nonlinearity and parameter uncertainty. In view of these specific natures of the bioreactor, system identification...
521