Abstract
In this paper a new method of modeling nonlinear friction as a function of both position and velocity is introduced. The proposed empirical model uses spectral analysis to identify the main sources of position dependent friction in complex mechanisms. In addition, the model describes the contribution to the overall friction of every moving part of the mechanism. In the paper, the proposed spectral-based modeling technique is used to describe static friction and sliding friction (which includes negative damping friction) of the first joint of PUMA 560 robot. This is the first friction model truly capable of describing nonlinear friction in complex mechanical systems.
Supported by a grant from MRCO, Ontario, Canada.
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© 1998 Springer-Verlag London Limited
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Popović, M.R., Goldenberg, A.A. (1998). Modeling of nonlinear friction in complex mechanisms using spectral analysis. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112980
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DOI: https://doi.org/10.1007/BFb0112980
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