Impulse control of harmonic drives with friction in precision robotic system

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.