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Estimating the friction parameters of pushed objects
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002In order to plan manipulation of an object by pushing, a robot must have a model of the geometry and the friction properties of the object. This paper presents an approach to estimating the relevant friction parameters by performing experimental pushes and observing the resultant motion. Recognition of objects based on their friction parameters is also
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Adaptive Estimation of the Engine Friction Torque
European Journal of Control, 2006Errors in an estimate of friction torque in modern spark ignition automotive engines have a direct impact on driveability performance of a vehicle and necessitate a development of real-time algorithms for adaptation of the friction torque. The friction torque in the engine control unit is presented as a look-up table with two input variables (engine ...
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Friction Estimation in Multimass Systems
1993 American Control Conference, 1993An observer for estimating the vector of Coulomb friction force coefficients in a multimass system is presented. The vector is assumed to be a linear combination of sgn(ยท) functions of relative velocities of the contacting masses. Two different nonlinear observers are proposed to estimate the friction coefficients when the velocities of the masses can ...
Bernard Friedland +2 more
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The Tyre as a Sensor to Estimate Friction
Vehicle System Dynamics, 1997SUMMARY Continuously updated knowledge of the friction potential and the friction demand can help to improve manoeuvrability and thereby safety of vehicles under slippery road conditions. An on line friction estimation method is presented using a simple brush type tyre model. First the method is verified by outdoor experiments using a tyre test trailer.
W. R. PASTERKAMP, H. B. PACEJKA
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Tire-road friction estimation utilizing smartphones
Proceedings of the 2014 IEEE 15th International Conference on Information Reuse and Integration (IEEE IRI 2014), 2014Tire-road friction is an important parameter for a number of different safety features present in modern-day vehicles, and the knowledge of this friction may also prove useful to the driver of a vehicle while it is in motion. In particular, this information may help inform a driver of dangerous low-traction situations that he or she may need to be ...
Michael Jaynes, Ram Dantu
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Discrete-Time Elasto-Plastic Friction Estimation
IEEE Transactions on Control Systems Technology, 2009For control applications involving small displacements and velocities, friction modeling and compensation can be very important, especially around velocity reversal. We previously described single-state friction models that are based on elasto-plastic presliding, something that reduces drift while preserving the favorable properties of existing models (
Vincent Hayward +3 more
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A Guide to Estimating the Friction of Rubber
Rubber Chemistry and Technology, 1992Abstract Vulcanized rubber, as a material, can exhibit extremes in friction level when utilized in all manner of mechanical devices. There is no single value of friction coefficient for a particular vulcanizate. Guidelines for estimating the friction of a rubber component can be based on the idea that the friction force will depend upon the ...
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Estimation of the Friction Coefficient of a Nanostructured Composite Coating
Mechanics of Composite Materials, 2017The frictional-mechanical properties of a thin polymer-ceramic coating obtained by gas-phase impregnation of nanoporous anodic alumina with a fluoropolymer (octafluorocyclobutane) have been investigated. The coefficient of sliding friction of the coating is predicted based on an analysis of contact deformation within the framework of the Winkler ...
Shil`ko, S. V. +3 more
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Active estimation of friction properties with Haptic Vision
2008 10th International Conference on Control, Automation, Robotics and Vision, 2008Frictional information is important for manipulating and representing real behavior of objects in a virtual space via haptic devices. In this paper we propose an active and automatic extraction method of friction properties based on Haptic Vision; we estimate the parameters of friction models such as LuGre model, Coulomb model, Dhal model, by analyzing
Dai Yamashiro +2 more
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Data-Driven Algorithms for Engine Friction Estimation
2006 IEEE International Conference on Control Applications, 2006Errors in the estimation of friction torque in modern spark ignition automotive engines necessitate the development of real-time algorithms for adaptation of the friction torque. Friction torque in the engine control unit is presented as a look-up table with two input variables (the engine speed and indicated engine torque).
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