1985/03/01 by Dean Karnopp · 7 citations
Engineering · #Dynamics and Control of Mechanical Systems #Gear and Bearing Dynamics Analysis #Iterative Learning Control Systems
paper · doi:10.1115/1.3140698
openalex publication_date 1985/03/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/01
Stick-slip friction is present to some degree in almost all actuators and mechanisms and is often responsible for performance limitations. Simulation of stick-slip friction is difficult because of strongly nonlinear behavior in the vicinity of zero velocity. A straightforward method for representing and simulating friction effects is presented. True zero velocity sticking is represented without equation reformulation or the introduction of numerical stiffness problems.