Friction and stick-slip in robots: Simulation and experimentation

DOI10.1023/A:1009888213333zbMath0969.70008OpenAlexW201173998MaRDI QIDQ1594973

Jean de Carufel, Richard Hurteau, Jean-Claude Piedboeuf

Publication date: 1 October 2001

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1009888213333

zbMATH Keywords

numerical algorithmjoint frictioncomplex multibody systemsrobot manipulator simulationsstick-slip processtwo-degree-of-freedom planar robot

Mathematics Subject Classification ID

Friction in solid mechanics (74M10) Experimental work for problems pertaining to mechanics of particles and systems (70-05) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60) Problems involving a system of particles with friction (70F40)

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ON IMPACT SCRIPTS WITH BOTH FRACTIONAL AND DRY FRICTION TYPE OF DISSIPATION ⋮ Time domain simulation of a target tracking system with backlash compensation

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