Presliding friction identification based upon the Maxwell Slip model structure

Rizos, Demosthenis D.; Fassois, Spilios D.

doi:10.1063/1.1755178

Cited by 47 publications

(19 citation statements)

References 19 publications

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“…However, the genetic algorithm is computationally expensive and requires prior knowledge of the approximate ranges of parameters. In [27], and [28], the estimation of model parameters is divided into two phases. The initial optimization phase explored large areas of the parameter space, and then, a fine optimization phase refined the estimated results.…”

Section: Break-away Friction Ratio Estimationmentioning

confidence: 99%

Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration

Song¹,

Liu²,

Althoefer³

et al. 2014

IEEE Trans. Robot.

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The break-away friction ratio (BF-ratio), which is the ratio between friction force and the normal force at slip occurrence, is important for the prediction of incipient slip and the determination of optimal grasping forces. Conventionally, this ratio is assumed constant and approximated as the static friction coefficient. However, this ratio varies with acceleration rates and force rates applied to the grasped object and the object material, which lead to difficulties in determining optimal grasping forces that avoid slip. In this paper, we propose a novel approach based on the interactive forces to allow a robotic hand to predict object slip before its occurrence. The approach only requires the robotic hand to have a short haptic surface exploration over the object surface before manipulating it. Then, the frictional properties of the finger-object contact can be efficiently identified, and the BFratio can be real-time predicted to predict slip occurrence under dynamic grasping conditions. Using the predicted BF-ratio as a slip, threshold is demonstrated to be more accurate than using the static/Coulomb friction coefficient. The presented approach has been experimentally evaluated on different object surfaces, showing good performance in terms of prediction accuracy, robustness, and computational efficiency.Index Terms-Break-away ratio, haptic surface exploration, slip prediction.

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Section: Break-away Friction Ratio Estimationmentioning

confidence: 99%

Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration

Song¹,

Liu²,

Althoefer³

et al. 2014

IEEE Trans. Robot.

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“…When the element sticks, its position is fixed and the spring deformation d j increases, until its maximum value D j is reached, as a result of which the element slips. Following Rizos and Fassois [39], the state equation for each element can be written in a dense way for both regimes as in Eq. 1:…”

Section: The Contact Scenariomentioning

confidence: 99%

A Generalised Asperity-Based Friction Model

2010

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Despite considerable research effort, the use of physics-based modelling to predict frictional behaviour is still a debatable question in modern tribological research. This article presents a dry-friction model, based on physical phenomena such as adhesion, elastic-plastic contact and deformation. This contribution offers a means to simulate all kinds of frictional behaviour that is observed in experimental research. The contact of two bodies through their surfaces is transformed into the contact of a body that is provided with asperities and containing material and geometrical information of both of the mating surfaces, and a counter profile, holding solely geometrical information. The local adhesion between the asperity tips and the counter profile, together with the elastic-plastic behaviour of the asperities themselves, form the basis for this model. The simulation results show qualitatively good agreement with experimental study. Friction and contact phenomena such as normal creep, increasing static coefficient of friction with increasing dwell time, pre-sliding hysteresis with nonlocal memory, Stribeck and viscous effect, frictional lag, stick-slip and dynamical oscillations are revealed by this model. Furthermore, future improvement and refinement of the model is possible (and ongoing) so as to incorporate lubrication and asperity wear.

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“…Consider the rate-independent semilinear Duhem model (6), (7), where u : [0, ∞) → [u min , u max ] is continuous, piecewise C 1 , and periodic with period α and has exactly one local maximum u max in [0, α) and exactly one local minimum u min in [0, α). Furthermore, define β u max − u min , and assume that ρ(e βA + e −βA − ) < 1.…”

Section: Theoremmentioning

confidence: 99%

“…Understanding presliding friction is useful for high precision motion control applications. For example, hysteresis can occur between the presliding friction force input and the displacement output [7], [11], [12].…”

mentioning

confidence: 99%

Duhem modeling of friction-induced hysteresis

Padthe

Drinčić

et al. 2008

IEEE Control Syst.

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F riction is a dynamic phenomenon of widespread importance, and the associated literature is vast; overviews are given in [1]- [5]. Friction can be viewed as an emergent, macroscopic phenomenon arising from molecular interaction. Consequently, both physical (physics-based) and empirical (experimentbased) models have been studied [2], [6]- [14]. Estimation and control methods are available for applications involving friction [15]-[18]; however, these topics are beyond the scope of this article.Friction models distinguish between presliding friction and sliding friction. Presliding or micro-slip friction refers to the friction forces that occur when the relative displacement between two contacting surfaces is microscopic, that is, on the order of the asperities (roughness features) on the surfaces. Sliding friction refers to the friction forces that arise when the relative displacement is macroscopic. Understanding presliding friction is useful for high precision motion control applications. For example, hysteresis can occur between the presliding friction force input and the displacement output [7], [11], [12].From a mathematical point of view, friction modeling is challenging since these models often involve nonsmooth dynamics. For example, the most widely used dry friction model, namely, Coulomb friction, is discontinuous. Additional discontinuous dry friction models are studied in [19]. Some friction models are continuous but have nonLipschitzian dynamics, which is a necessary condition for finite-settling-time behavior and the associated lack of time-reversibility [20], [21]. Table 1 classifies the properties of some widely used friction models.Hysteresis is the result of multistability, which refers to the existence of multiple attracting equilibria [22]-[24]. Multistability implies that hysteresis is a quasi-static phenomenon in the sense that the hysteresis map is the limit of a sequence of periodic dynamic input-output maps as the period of the input increases without bound. In both presliding and sliding friction models, there exist multiple equilibria corresponding to states that correspond to constant friction forces under constant displacement or velocity.In this article we examine several classical friction models from a hysteresis modeling point of view and study the

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Presliding friction identification based upon the Maxwell Slip model structure

Cited by 47 publications

References 19 publications

Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration

Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration

A Generalised Asperity-Based Friction Model

Duhem modeling of friction-induced hysteresis

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