This paper presents a practical feedback controller design of a ball screw-driven table system for the microdisplacement positioning. Friction of the mechanism in the micro-displacement region has nonlinear elastic properties, unlike Coulomb and/or viscous friction in the macro-displacement, resulting in different positioning responses and frequency characteristics of the plant depending on the...

We study the possibility for a semi-infinite block of linear viscoelastic material, in homogeneous frictional contact with a non-deformable one, to slide under shear via a periodic set of “self-healing pulses”, i.e. a set of drifting slip regions separated by stick ones. We show that, contrary to existing experimental indications, such a mode of frictional sliding is impossible for an interface...

This paper discusses the robotic acquisition and characterization of surface friction and roughness for real-world objects. Our motivation is the construction of detailed “reality-based” models for existing objects that can be used in haptic displays and other applications involving simulation. A key challenge addressed in this paper is the acquisition of these surface properties on real object...

We simulate the response of dense granular material to shear. Our simulations use a micromechanical model which includes realistic material models for each deformable grain, and a Coulomb friction model for interactions between grains. We measure the probability density function (PDF) governing the volume distribution of stress for monodisperse and polydisperse samples, circular and polygonal g...

This paper is concerned with residual error estimators for finite element approximations of Coulomb frictional contact problems. A recent uniqueness result by Renard in [72] for the continuous problem allows us to perform an a posteriori error analysis. We propose, study and implement numerically two residual error estimators associated with two finite element discretizations. In both cases the...

In this paper, a SDOF system with nonlinear viscous friction under harmonic excitation is studied. A nonlinear viscous friction model is built as an exponential expansion of the relative slip velocity. According to the adaptive control theory, an adaptive controller for the friction compensation of the SDOF system with nonlinear viscous friction is put forward by using the model-based parameter...

The aim of this work is to study a class of nonsmooth dynamic contact problem which model several surface interactions, including relaxed unilateral contact conditions, adhesion and Coulomb friction laws, between two viscoelastic bodies of Kelvin-Voigt type. An abstract formulation which generalizes these problems is considered and the existence of a solution is proved by using Ky Fan’s fixed p...

A system identification method in the frequency-domain is proposed for a servomechanism with nonlinearities. A linear part of the servomechanism is identified exactly without distortion due to inherent nonlinearities through the proposed method. Parameters of the nonlinearities, including both Coulomb and viscous friction, are identified by the use of limit cycle analysis and describing functio...

Using impulses for rigid body simulation is rapidly becoming a standard method for realtime simulations. This paper discusses how impulses can be used for modeling both collision and contact between rigid bodies when using the coulomb friction model. Time stepping techniques are also discussed including an example method optimized specifically for handling large numbers of simultaneous collisio...

This paper formally introduces several stability characterizations of £xtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. These characterizations, weak stability and strong stability, arise naturally from the dynamic model of the system, formulated as a complementarity problem. Using the tools of complementarity theory, these characterizatio...