Friction is present in all mechanical systems, and can greatly affect system stability and control in precision motion applications. In this paper, we present application of a frictional model to trajectory planning of a part centering system with real-time identification of model parameters through system force and position response. This identification is carried out using LabVIEW motion control software and digital signal processing (DSP) and field-programmable gate array (FPGA) hardware. A comparison of hardware performance for force measurement is also made.
M. L. Mears, J. S. Falcon and T. R. Kurfess, "Real-time identification of sliding friction using LabVIEW FPGA," 2006 American Control Conference, Minneapolis, MN, 2006, pp. 6 pp.-.