Abstract
A time-free, drift-free, multi-dimensional model of friction is introduced. A discrete implementation is developed which exhibits four solution regimes: sticking, creeping, oscillating, and sliding. Its computational solution is efficient to compute online and is robust to noise. It is applied to haptic rendering.
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© 2000 Springer-Verlag London Limited
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Hayward, V., Armstrong, B. (2000). A new computational model of friction applied to haptic rendering. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119418
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DOI: https://doi.org/10.1007/BFb0119418
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