DocumentCode
414322
Title
An integral friction model
Author
Ferretti, Gianni ; Magnani, GianAntonio ; Rocco, Paolo
Author_Institution
Dipt. di Elettronica e Informazione, Politecnico di Milano, Milan, Italy
Volume
2
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
1809
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308086
Filename
1308086
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