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Kinematic reductions for uncertain mechanical contact

Published online by Cambridge University Press:  01 November 2007

Todd D. Murphey
Todd D. Murphey*
Affiliation:
Electrical and Computer Engineering, University of Colorado at Boulder, Boulder, CO 80309-0425
*
*Corresponding author. E-mail: murphy@colorado.edu
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Summary

This paper describes the methods applicable to the modeling and control of mechanical contact, particularly those systems that experience uncertain stick/slip phenomena. Geometric kinematic reductions are used to reduce a system's description from a second-order dynamic model with frictional disturbances coming from a function space to a first-order model with frictional disturbances coming from a space of finite automata over a finite set. As a result, modeling for purposes of control is made more straight-forward by getting rid of some dependencies on low-level mechanics (in particular, the details of friction modeling). Moreover, the online estimation of the uncertain, discrete-valued variables has reduced sensing requirements. The primary contributions of this paper are the introduction of a simplifying representation of friction and formal tests for kinematic reducibility. Results are illustrated using a slip-steered vehicle model and an actuator array model.

Keywords

Geometric modelingfriction modeling
Type
Article
Information
Robotica , Volume 25 , Issue 6 , November 2007 , pp. 751 - 764
Copyright
Copyright © Cambridge University Press 2007

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