functionplotFrictionCurve
Information
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<p>This function plots the Stribeck curve approximation which is implemented in the contact block.</p>
<p>In order to calculate the friction forces without further discontinuous events, which would decrease the simulation speed and impede controller design, we use the continuously differentiable friction model of Makkar et al. [3]. They introduced the following function of the relative velocity to approximate the friction coefficient of the characteristic Stribeck curve.</p>
<p><img src="resources/IdealizedContact/Images/equations/mue.jpg"/></p>
<p>To set the unknown constants gamma_i we use five parameters, which can be seen in the figure. The parameters mue_s and mue_k denote the coefficients of static and kinetic friction. The limit velocity v_e1 and v_e2 define the beginning of mixed and viscous friction. The latter is described by the proportionality factor k_v. To display the current curve attune the inputs of the function.</p>
<p><br/><br/><img src="resources/IdealizedContact/Images/mue.jpg"/></p>
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Contents
| Name | Description |
|---|
| frictionCoefficientprotected | |