| Autor: |
Ganseman, C., Swevers, J., Prajogo, T., Al-Bender, F. |
| Zdroj: |
IFAC-PapersOnLine; September 1997, Vol. 30 Issue: 20 p153-158, 6p |
| Abstrakt: |
This paper presents a new dynamical friction model which allows accurate modelling both in the sliding and the presliding regions. Transition between these two regions is accomplished without a switching function. The model incorporates a hysteresis function with local memory. This last aspect proves essential for modelling presliding friction that is encountered in real physical situations. The model as a whole can also handle the Stribeck effect and stick-slip behaviour as has been demonstrated by validation on a KUKA IR 361 robot. In this sense, this model can be considered as more complete in comparison with others found in literature. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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