Friction model for low velocities: proprieties and applications

The paper presents a novel friction model to describe the friction phenomena at low velocities. The proprieties of the introduced model are discussed in detail. It was shown that the off line identification of the model parameters can easily be performed using standard parameter identification techniques and the proposed model predicts the limit cycle phenomena that occurs due to friction phenomena at low velocities. The model is linear in parameters so it can easily be applied in adaptive friction compensation algorithms for positioning systems and robotic manipulators. Simulation results are provided to illustrate the applicability of the proposed model.