1 research outputs found
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
Contact surfaces in planar motion exhibit a coupling between tangential and
rotational friction forces. This paper proposes planar friction models grounded
in the LuGre model and limit surface theory. First, distributed planar extended
state models are proposed and the Elasto-Plastic model is extended for
multi-dimensional friction. Subsequently, we derive a reduced planar friction
model, coupled with a pre-calculated limit surface, that offers 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
lower computational cost