Planar Friction Modelling with LuGre Dynamics and Limit Surfaces

TL;DR

This paper introduces efficient planar friction models based on LuGre dynamics and limit surface theory, enabling accurate simulation of contact forces with significantly reduced computational costs.

Contribution

It develops a reduced planar friction model coupled with a pre-calculated limit surface, improving computational efficiency while maintaining accuracy.

Findings

Reduced model achieves ~80x lower computational cost.

Model performance comparable to distributed models in simulations.

Limit surface approximation via ellipsoid is effective.

Abstract

During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed and the Elasto-Plastic model is extended for multi-dimensional friction. Subsequently, we derive a reduced planar friction model, coupled with a pre-calculated limit surface, that offers reduced computational cost. The limit surface approximation through an ellipsoid is discussed. The properties of the planar friction models are assessed in various simulations, demonstrating that the reduced planar friction model achieves comparable performance to the distributed model while exhibiting ~80 times lower computational cost.