Dynamic identification of robots with a dry friction model depending on load and velocity

@article{Hamon2010DynamicIO,
  title={Dynamic identification of robots with a dry friction model depending on load and velocity},
  author={Pauline Hamon and Maxime Gautier and Philippe Garrec},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={6187-6193}
}
Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry sliding friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission. It follows that this effect must be taken into account for robots working with large variation… CONTINUE READING