Friction and stick-slip in robots: Simulation and experimentation

This paper proposes an algorithm for joint friction in robot manipulator si mulations. The model includes an appropriate representation of the behaviou r at low speed and, especially, the stick-slip process. The concept of the model is introduced through two simple examples. The method is then extende d to more complex multibody systems and, in particular, to robot manipulato rs. It is further synthesized into a numerical algorithm for computer simul ations. The algorithm is experimentally validated using a two-degrees-of-fr eedom planar robot moving in the vertical plane. Free motions resulting fro m known initial conditions were successfully reproduced.