Abstract
Fidelity with friction properties and easiness of implementation are both important aspects for friction modeling. Some empirically motivated models can be implemented easily due to their simple expression and small number of parameters, but they cannot capture faithfully the main properties of friction. Some physically motivated models give close agreement with the friction properties, but they can be too complex for some applications. This paper proposes a differential-algebraic multistate friction model that possesses easiness of implementation and adjustment, a relatively small number of parameters and a compact formulation. Moreover, it captures all standard properties of well-established friction models.
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Xiong, X., Kikuuwe, R., Yamamoto, M. (2012). A Differential-Algebraic Multistate Friction Model. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_10
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DOI: https://doi.org/10.1007/978-3-642-34327-8_10
Publisher Name: Springer, Berlin, Heidelberg
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