Effect of dry friction on vibrations of sampled-data mechatronic systems

In this paper, we derive the solution of the damped oscillator with Coulomb friction, where the damping factor is negative. The aim of this study is to present the stabilization effect of Coulomb friction of an otherwise unstable system. This phenomenon typically occurs in robotic systems, where the dry friction in the drivetrain of the arms compensates for the possible instability caused by the sampling time in the digital controller. The results help to recognize the interplay of these phenomena just by looking at the peculiar qualitative picture of the corresponding vibration signals.

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