Juan C. Martínez-Rosas, Luis Alvarez-Icaza, and Daniel Noriega-Pineda
Dynamic friction model, LuGre friction model, Coulomb friction, Stribeck effect
In this paper a novel dynamic friction model is presented. This friction model is an extension of the well-known LuGre friction model. Stribeck effect is now modeled by an additional differential equation, that leads to a second-order dynamic friction model. The main advantage of this new formulation is the possibility to recover in real time two of the most relevant parameters in friction models, Coulomb and static friction coefficients, which can not be recovered directly in the LuGre friction model. Model properties are analyzed to show that the model captures essential features of friction. Experimental results in an industrial manipulator show good performance of a friction compensation adaptive scheme in velocity tracking tasks, under large initial uncertainty of friction parameters and the presence of load disturbances.
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