Admittance and impedance representations of friction based on implicit Euler integration

Ryo Kikuuwe, Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama, Hideo Fujimoto

研究成果: ジャーナルへの寄稿学術誌査読

58 被引用数 (Scopus)

抄録

Modeling of friction force is cumbersome because of its discontinuity at zero velocity. This paper presents a set of discrete-time friction models for the purpose of haptic rendering and virtual environment construction. These models allow friction to be treated as an admittance-type or impedance-type element of a virtual environment. They are derived from implicit Euler integration of Coulomb-like discontinuous friction and linear mass-spring-damper dynamics, and have closed-form expressions. They include rate-dependent friction laws, and their extension to multidimensional cases is easy in most practical cases. The validity of the models is demonstrated through numerical examples and implementation experiments.

本文言語英語
ページ(範囲)1176-1188
ページ数13
ジャーナルIEEE Transactions on Robotics
22
6
DOI
出版ステータス出版済み - 12月 2006

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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