WFRF:(Gabriel Yiannis)
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- Arslan Waltersson, Gabriel,1996Chalmers tekniska högskola,Chalmers University of Technology (author)
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
- Article/chapterEnglish2024
Publisher, publication year, extent ...
- 2024
Numbers
- LIBRIS-ID:oai:research.chalmers.se:3d0950f6-009a-47ef-b33f-2e3e5a506241
- https://research.chalmers.se/publication/541541URI
- https://doi.org/10.1109/TRO.2024.3410455DOI
Supplementary language notes
- Language:English
- Summary in:English
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- SwePubSwePub
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Notes
- 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 and genre
- 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
- Force
- Vectors
- Friction
- Dynamics
- Computational modeling
- Numerical models
- Load modeling
Added entries (persons, corporate bodies, meetings, titles ...)
- Karayiannidis, Yiannis,1980(Swepub:cth)yiannis (author)
- Chalmers tekniska högskola (creator_code:org_t)
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- In:IEEE Transactions on RoboticsIn Press1552-30981941-0468
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