Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
Artikel i vetenskaplig tidskrift, 2024

During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed and the Elasto-Plastic model is extended for multi-dimensional friction. Subsequently, we derive a reduced planar friction model coupled with a pre-calculated limit surface, that offers reduced computational cost. The limit surface approximation through an ellipsoid is discussed. The properties of the planar friction models are assessed in various simulations, demonstrating that the reduced planar friction model achieves comparable performance to the distributed model while exhibiting $\sim 80$ times lower computational cost.

Force

Vectors

Friction

Dynamics

Computational modeling

Numerical models

Load modeling

Författare

Gabriel Arslan Waltersson

Chalmers, Elektroteknik, System- och reglerteknik

Yiannis Karayiannidis

Department of Automatic Control

IEEE Transactions on Robotics

1552-3098 (ISSN) 19410468 (eISSN)

Vol. 40 3166-3180

Ämneskategorier

Maskinteknik

Elektroteknik och elektronik

DOI

10.1109/TRO.2024.3410455

Mer information

Senast uppdaterat

2024-07-20