Theory

This section covers the theoretical foundations behind BAM: the pendulum bench dynamics, the friction-budget formulation used in simulation, and the six friction model variants M1–M6.

It follows the modeling and identification approach introduced in the paper “Extended Friction Models for the Physics Simulation of Servo Actuators” by Marc Duclusaud, Gregoire Passault, Vincent Padois, and Olivier Ly .

• Theoretical Framework
  • Pendulum test bench dynamics
  • Friction as a torque budget
  • Servo model + friction model coupling
• Friction Models (M1-M6)
  • Notation
  • Model M1: Coulomb-Viscous
  • Model M2: Stribeck
  • Model M3: Load-dependent
  • Model M4: Stribeck + load-dependent
  • Model M5: Directional load-dependent
  • Model M6: Quadratic directional
  • Modeling hierarchy
  • Implementation in BAM