Planar Friction Modeling With LuGre Dynamics and Limit Surfaces
Arslan Waltersson, Gabriel and Karayiannidis, Yiannis LU
(2024)
40th Anniversary of the IEEE International Conference on Robotics and Automation
In IEEE Transactions on Robotics
40.
p.3166-3180
- Abstract
- During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This article proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed, and the elastoplastic model is extended for multidimensional friction. Subsequently, we derive a reduced planar friction model coupled with a precalculated limit surface, which offers the reduced computational cost. The limit surface approximation through an ellipsoid is discussed. The properties of the planar friction models are assessed in various simulations, demonstrating that the reduced planar friction model achieves comparable performance to the distributed model... (More)
- During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This article proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed, and the elastoplastic model is extended for multidimensional friction. Subsequently, we derive a reduced planar friction model coupled with a precalculated limit surface, which offers the reduced computational cost. The limit surface approximation through an ellipsoid is discussed. The properties of the planar friction models are assessed in various simulations, demonstrating that the reduced planar friction model achieves comparable performance to the distributed model while exhibiting ∼80 times the lower computational cost. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/c6927486-3aaf-4b98-8a30-81d7966b6400
- author
- Arslan Waltersson, Gabriel
and Karayiannidis, Yiannis
LU
- organization
- publishing date
- 2024-06-06
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Contact modeling, dynamics, dexterous manipulation, planar friction
- in
- IEEE Transactions on Robotics
- volume
- 40
- pages
- 15 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 40th Anniversary of the IEEE International Conference on Robotics and Automation
- conference location
- Rotterdam, Netherlands
- conference dates
- 2024-09-23 - 2024-09-26
- external identifiers
-
- scopus:85195425163
- ISSN
- 1941-0468
- DOI
- 10.1109/TRO.2024.3410455
- project
- RobotLab LTH
- Hand-arm coordination control for robotic interaction tasks
- language
- English
- LU publication?
- yes
- id
- c6927486-3aaf-4b98-8a30-81d7966b6400
- date added to LUP
- 2024-08-16 15:17:50
- date last changed
- 2025-04-04 14:16:20
@article{c6927486-3aaf-4b98-8a30-81d7966b6400,
abstract = {{During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This article proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed, and the elastoplastic model is extended for multidimensional friction. Subsequently, we derive a reduced planar friction model coupled with a precalculated limit surface, which offers the reduced computational cost. The limit surface approximation through an ellipsoid is discussed. The properties of the planar friction models are assessed in various simulations, demonstrating that the reduced planar friction model achieves comparable performance to the distributed model while exhibiting ∼80 times the lower computational cost.}},
author = {{Arslan Waltersson, Gabriel and Karayiannidis, Yiannis}},
issn = {{1941-0468}},
keywords = {{Contact modeling; dynamics; dexterous manipulation; planar friction}},
language = {{eng}},
month = {{06}},
pages = {{3166--3180}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
series = {{IEEE Transactions on Robotics}},
title = {{Planar Friction Modeling With LuGre Dynamics and Limit Surfaces}},
url = {{http://dx.doi.org/10.1109/TRO.2024.3410455}},
doi = {{10.1109/TRO.2024.3410455}},
volume = {{40}},
year = {{2024}},
}