Kinematic reductions for uncertain mechanical contact

Todd D. Murphey*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

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.

Original languageEnglish (US)
Pages (from-to)751-764
Number of pages14
JournalRobotica
Volume25
Issue number6
DOIs
StatePublished - Nov 1 2007

Keywords

  • Friction modeling
  • Geometric modeling

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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