Sökning: WFRF:(Gabriel Yiannis) > Planar Friction Mod...
Fältnamn | Indikatorer | Metadata |
---|---|---|
000 | 02455naa a2200385 4500 | |
001 | oai:research.chalmers.se:3d0950f6-009a-47ef-b33f-2e3e5a506241 | |
003 | SwePub | |
008 | 240614s2024 | |||||||||||000 ||eng| | |
024 | 7 | a https://research.chalmers.se/publication/5415412 URI |
024 | 7 | a https://doi.org/10.1109/TRO.2024.34104552 DOI |
040 | a (SwePub)cth | |
041 | a engb eng | |
042 | 9 SwePub | |
072 | 7 | a art2 swepub-publicationtype |
072 | 7 | a ref2 swepub-contenttype |
100 | 1 | a Arslan Waltersson, Gabriel,d 1996u Chalmers tekniska högskola,Chalmers University of Technology4 aut0 (Swepub:cth)gabwal |
245 | 1 0 | a Planar Friction Modelling with LuGre Dynamics and Limit Surfaces |
264 | 1 | c 2024 |
520 | a 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. | |
650 | 7 | a TEKNIK OCH TEKNOLOGIERx Maskinteknik0 (SwePub)2032 hsv//swe |
650 | 7 | a ENGINEERING AND TECHNOLOGYx Mechanical Engineering0 (SwePub)2032 hsv//eng |
650 | 7 | a TEKNIK OCH TEKNOLOGIERx Elektroteknik och elektronik0 (SwePub)2022 hsv//swe |
650 | 7 | a ENGINEERING AND TECHNOLOGYx Electrical Engineering, Electronic Engineering, Information Engineering0 (SwePub)2022 hsv//eng |
653 | a Force | |
653 | a Vectors | |
653 | a Friction | |
653 | a Dynamics | |
653 | a Computational modeling | |
653 | a Numerical models | |
653 | a Load modeling | |
700 | 1 | a Karayiannidis, Yiannis,d 19804 aut0 (Swepub:cth)yiannis |
710 | 2 | a Chalmers tekniska högskola4 org |
773 | 0 | t IEEE Transactions on Roboticsg 40, s. 3166-3180q 40<3166-3180x 1552-3098x 1941-0468 |
856 | 4 8 | u https://research.chalmers.se/publication/541541 |
856 | 4 8 | u https://doi.org/10.1109/TRO.2024.3410455 |
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