Wipers constantly skipping

I've had this problem for years now. Unless it's raining pretty hard out, my wipers will skip on the way up. The windshield has to be really wet for them not to. It makes driving in normal rain annoying because I either have to manually turn the switch every once in a while or just listen to them beating across my windshield the entire time.

I've tried different blade types, I've cleaned the brushes in the motor, I've greased the linkages under the dash and I've replaced the wiper bushings. None of them have had any effect on this problem at all. When the wipers are going I can feel them kind of pulsing through the gas pedal. Is this normal on your guys cars? I can't tell if it's because the linkages are binding or what.