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Stick-slip arising from Stribeck friction

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1 Author(s)
Armstrong-Helouvry, Brian ; Dept. of Electr. Eng., Wisconsin Univ., Milwaukee, WI, USA

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

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990