Stick-slip arising from Stribeck friction
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1377-1382 vol.2
- https://doi.org/10.1109/robot.1990.126194
Abstract
The implications of Stribeck friction (a nonlinear low-velocity friction effect that contributes to and perhaps dominates stick-slip motion) for feedback control are explored. Through the use of dimensional analysis, the following are examined: (1) the minimum velocity below which stick-slip will occur; (2) the accuracy of sensing required to eliminate stick-slip by feedback control; (3) the slip distance during stick-slip motion; and (4) scaling of Stribeck friction and stick-slip. A seven-parameter friction-plus-control model is proposed; dimensional analysis is employed to reduce the degrees of freedom of this model to three.Keywords
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