Impulsive actuation has been researched in the past two decades as an inexpensive alternative to multi-degree-of-freedom precision positioning systems. The position of a sliding workpiece can be controlled by a 2-degree-offreedom actuation system through simple pushing path planning. However, the final part position as a result of the last touch of the actuator is subject to uncertainty in the friction model used for actuation planning, particularly the free-sliding distance undergone by the workpiece after losing contact with the actuator. This paper first reviews an impact planning method, then augments it using a restitutionbased model that results in an explicit actuator velocity function. Results are given for positioning of a continually rotating workpiece that show improvement over constant-velocity pushing actuation. Such a positioning system is applicable to dynamic positioning for precision metrology or positioning prior to manufacturing operations (e.g., magnetic chuck grinding with part being moved while the table is rotating).
Mears, Laine and Kurfess, Thomas R., "Impulsive-actuation Part Positioning through Constrained Energy Balance Planning" (2007). Publications. 67.