Friction dynamic with elasto-plasticity in transient behavior

Several heuristic friction models are proposed in the literature over the past decades. Describing a complex frictional behavior in both pre-sliding and sliding regimes the known approaches differ in the representation of hysteretic and transient friction response. Thereby, the parameters set to be identified is one of the key issues for a practical model use for the control. This paper addresses the friction dynamic described by a novel physics inspired friction model which considers the asperities of irregular frictional surfaces as deforming elasto-plastically. The theoretical and experimental considerations which lead to the model formulation are provided. The model evaluation is performed, once using a stand-alone actuator system with gear, and once considering the first base joint of an industrial robotic manipulator.