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Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
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- Arslan Waltersson, Gabriel, 1996 (author)
- Chalmers University of Technology
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- Karayiannidis, Yiannis, 1980 (author)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,LTH profilområden,LU profilområde: Naturlig och artificiell kognition,Lunds universitets profilområden,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH,LU Profile Area: Natural and Artificial Cognition,Lund University Profile areas
- (creator_code:org_t)
- 2024
- 2024
- English.
- In: IEEE Transactions on Robotics. - 1552-3098 .- 1941-0468. ; 40, s. 3166-3180
- Journal article (peer-reviewed)
Abstract
Subject headings
Close
- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Force
- Vectors
- Friction
- Dynamics
- Computational modeling
- Numerical models
- Load modeling
- Contact modeling
- dynamics
- dexterous manipulation
- planar friction
Publication and Content Type
- art (subject category)
- ref (subject category)
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