Understanding Friction in Mechanical Systems

This lecture covers the fundamental concepts of friction in mechanical systems, including its characteristics, types, and models. It explores the impact of friction on mechanical transmissions and the importance of understanding friction for motion implementation and controller design. Various friction models such as Coulomb, viscous, and dry friction with stiction effect are discussed, along with the Stribeck effect. Practical examples, like reducing friction in cable transmissions and using ball bearings, are presented. The lecture also delves into advanced friction models like the LuGre model and the Benson exponential friction model, emphasizing the need for friction compensation in control systems.