DocumentCode :
3737035
Title :
Friction model for planar two-dimensional motion
Author :
Hiroaki Kato
Author_Institution :
Frontier Research Center, Canon Inc. Tokyo, Japan
fYear :
2015
Firstpage :
220
Lastpage :
225
Abstract :
This paper describes a friction model that enables the simulation of mechanical motion with planar two-dimensional friction. Most existing friction models for control applications are applicable to one-dimensional motion only. The proposed model is derived by extending the conventional friction model, the Dahl model. This is achieved by replacing the scalar quantities in the Dahl model with vector quantities. The principal properties of the original model, that is, boundedness and rate independence, are preserved. In the proposed model, the maximum friction force is equal in all directions and the direction of the friction force coincides with the direction of motion, which a simple pair of one-dimensional models cannot obtain. A simulation application is presented for a typical example with planar two-dimensional friction.
Keywords :
"Friction","Mathematical model","Force","Trajectory","Adaptation models","Robots","Transient analysis"
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, IECON 2015 - 41st Annual Conference of the IEEE
Type :
conf
DOI :
10.1109/IECON.2015.7392102
Filename :
7392102
Link To Document :
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