Reliable chattering-free simulation of friction torque in joints presenting high stiction
Rafael Cisneros,Mehdi Benallegue,Ryo Kikuuwe,Mitsuharu Morisawa,Fumio Kanehiro,Rafael Cisneros,Mehdi Benallegue,Ryo Kikuuwe,Mitsuharu Morisawa,Fumio Kanehiro
The simulation of static friction, and especially the effect of stiction, is cumbersome to perform in discrete-time due to its discontinuity at zero velocity and its switching behavior. However, it is essential to achieve reliable simulations of friction to develop compliant torque control algorithms, as they are much disturbed by this phenomenon. This paper takes as a base an elastoplastic model ...
