Title :
An integral friction model
Author :
Ferretti, Gianni ; Magnani, GianAntonio ; Rocco, Paolo
Author_Institution :
Dipt. di Elettronica e Informazione, Politecnico di Milano, Milan, Italy
fDate :
April 26-May 1, 2004
Abstract :
In this paper, an integral friction model is proposed, defining separately the Dahl, the Stribeck and the microviscous effects. The model is based on an integral closed form solution of the Dahl model. It is shown by simulation that the model is consistent with the LuGre model, while being computationally more efficient. A limit solution of the proposed model avoids the nonphysical drifts, a drawback of the LuGre model recently addressed in the literature.
Keywords :
sliding friction; stress-strain relations; Dahl effects; Dahl model; LuGre model; Stribeck effects; integral closed form solution; integral friction model; microviscous effects; nonphysical drifts; Closed-form solution; Computational modeling; Friction; Hysteresis; Limit-cycles; Mechanical systems; Motion measurement; Performance loss; Solid modeling; Steady-state;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308086
