Friction modeling in dynamic robot simulation

The importance of appropriately modeling friction for the simulation and control of high-performance robot systems is discussed. Incorporating Coulomb-type friction in the dynamic equations introduces two difficulties in the forward dynamic solution. It is shown that the differential equations becom...

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Bibliographic Details
Main Author: Dupont, P.E.
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Degradation
Differential equations
Fasteners
Force control
Friction
Laboratories
Payloads
PD control
Robot control
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Summary:The importance of appropriately modeling friction for the simulation and control of high-performance robot systems is discussed. Incorporating Coulomb-type friction in the dynamic equations introduces two difficulties in the forward dynamic solution. It is shown that the differential equations become discontinuous in the highest-order derivative terms. In addition, the load dependency of this type of friction generally causes the equations to be implicit in the joint accelerations. For the important case of load-dependent transmission friction, the equations are shown to be explicit. Techniques for the forward solution are described through the example of a roller screw transmission. Experimental and simulation results are used to show the importance of load-dependent friction in a particular robot. Implementational issues are discussed as well as implications for robot control.< >
DOI:10.1109/ROBOT.1990.126193