Admittance and Impedance Representations of Friction Based on Implicit Euler Integration
Admittance and Impedance Representations of Friction Based on Implicit Euler Integration
复制标题
基于隐式欧拉积分的摩擦导纳和阻抗表示
DOI：
10.1109/tro.2006.886262
复制
发表时间：
2006
影响因子：
7.8
通讯作者：
H. Fujimoto
中科院分区：
文献类型：
--
作者：
Ryo Kikuuwe;N. Takesue;A. Sano;H. Mochiyama;H. Fujimoto
摩擦力的建模很麻烦，因为它在零速度时是不连续的。本文提出了一套用于触觉渲染和虚拟环境构建的离散时间摩擦模型。这些模型允许将摩擦视为虚拟环境的导纳型或阻抗型元素。它们是由类库仑不连续摩擦和线性质量-弹簧-阻尼器动力学的隐式欧拉积分导出的，并且具有闭合形式的表达式。它们包括与速率相关的摩擦定律，并且在大多数实际情况下，它们很容易扩展到多维情况。通过数值算例和实施实验，验证了模型的有效性
Modeling of friction force is cumbersome because of its discontinuity at zero velocity. This paper presents a set of discrete-time friction models for the purpose of haptic rendering and virtual environment construction. These models allow friction to be treated as an admittance-type or impedance-type element of a virtual environment. They are derived from implicit Euler integration of Coulomb-like discontinuous friction and linear mass-spring-damper dynamics, and have closed-form expressions. They include rate-dependent friction laws, and their extension to multidimensional cases is easy in most practical cases. The validity of the models is demonstrated through numerical examples and implementation experiments