Dynamic Parameters Identification of LuGre Friction Model Based on Chain Code Technique

We present a parameter estimation approach for LuGre friction model based on chain-code method. The approach employs shape characteristics of friction force-displacement curve to measure the similar degree, here it is Euclidean distance, between the original curve and simulated curve. Once the Euclidean distance is smaller than the given error, we can consider the final dynamic parameters are the true value we look for. The main advantage of this approach is that complex linearization procedures of LuGre model for estimation are avoided. Moreover, there are not any transformations for measured experimental data, which avoid the accumulated error during estimation effectively.