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The Effect of coulomb friction and stiction on force control
Abstract
We have studied the effect of Coulomb friction and stiction on force control with integral feedback. The force is applied through a compliant transmission by a velocity-controlled motor. Our results show that stiction can cause the applied force to enter a limit cycle. Coulomb friction can extend the system stability bounds but may lead to an input-dependent stability. Under certain conditions Coulomb friction causes an actuator limit cycle even though the applied force approaches the desired steady state force. Based on the analysis, we give design guidelines for increasing the performance.
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Cited by
Modeling piezoelectric stack actuators for control of micromanipulation
(1997) · IEEE Control Systems · doi:10.1109/37.588158 · Cited by 668
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Vuskovic, V., Kauer, M., Szekely, G., & Reidy, M. (2002) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844824 · Cited by 71
Metadata
- Authors
- Townsend, W., & Salisbury, J.
- Venue
- Proceedings. 1987 IEEE International Conference on Robotics and Automation
- Published
- 2005-03-23
- Volume
- 4
- Pages
- 883-889
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2103229768
- Cited by
- 160
- References
- 0
- FWCI
- 11.52
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Townsend, W., & Salisbury, J. (2005). The Effect of coulomb friction and stiction on force control. Proceedings. 1987 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1987.1087936
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