Abstract
In this paper, some issues involved with numerical simulation and control of some elasto-dynamic systems are discussed. The motivation is the simulation of dry or Coulomb friction in the joints that link together remote manipulator systems used in aerospace operations (for example, space shuttle remote anipulator systems). The goal here is to develop numerical techniques to simulate and control these systems, while properly modeling the Coulomb friction. The numerical procedure described employs a finite difference time discretization in conjunction with a vector of multipliers that predicts the friction effect for all time. In addition to this discrete multiplier technique an associated regularization procedure that greatly improves the behavior of these multipliers is also presented. Numerical examples conclude the paper.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
