Abstract
Abstract This paper presents a new dynamical friction model which allows accurate modelling both in the sliding and the presliding regions. Transition between these two regions is accomplished without a switching function. The model incorporates a hysteresis function with local memory. This last aspect proves essential for modelling presliding friction that is encountered in real physical situations. The model as a whole can also handle the Stribeck effect and stick-slip behaviour as has been demonstrated by validation on a KUKA IR 361 robot. In this sense, this model can be considered as more complete in comparison with others found in literature.
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