Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Maged Iskandar; Sebastian Wolf

ICRA 2019poster60 citations

Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Abstract

A physically-motivated friction model with a parametric description of the nonlinear dependency of the temperature and velocity as well as the dependency on external load is presented. The fully parametric approach extends a static friction model in the gross sliding regime. We show how it can be seamlessly integrated in standard dynamic friction models such as Lund Grenoble (LuGre) and Generalized-Maxwell-Slip (GMS). Parameters of a Harmonic Drive CSD 25 gear are experimentally identified and the final model is evaluated on a dedicated test-bed. We show the integration and effectiveness in dynamic simulation, friction compensation, and external torque estimation.

BibTeX

@inproceedings{icra2019_dynamicfrictionm,
  title = {Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation},
  author = {Maged Iskandar and Sebastian Wolf},
  booktitle = {ICRA 2019},
  year = {2019}
}