The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem
نویسنده
چکیده
For motion planning it is important to have an accu rate dynamic system model and in many cases friction is an important component of the model It is known however that when Coulomb friction is added to the rigid body dynamic equations the forward dynamic solution may not exist and if it exists it is not necessarily unique In this paper we study the existence and uniqueness prop erties of the forward solution of these equations We show that existence and uniqueness problems arise even for a single degree of freedom system and derive conditions un der which such problems occur A graphical method is presented which clearly shows the number of solutions as sociated with each value of input torque A transmission element is used as an example of such a system
منابع مشابه
Existence and Uniqueness of Rigid Body Dynamics with Coulomb Friction
For motion planning and veri cation as well as for model based control it is important to have an accurate dynamic system model In many cases friction is a signi cant component of the model When considering the solution of the rigid body forward dynamics problem in systems such as robots we can often appeal to the fundamental theorem of di erential equations to prove the existence and uniquenes...
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