8be13016bc
Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
56 lines
1.5 KiB
ReStructuredText
56 lines
1.5 KiB
ReStructuredText
Theory
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======
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This section covers the theoretical foundations behind BAM: the pendulum
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bench dynamics, the friction-budget formulation used in simulation, and the
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six friction model variants M1–M6.
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It follows the modeling and identification approach introduced
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in the paper `"Extended Friction Models for the Physics Simulation of Servo
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Actuators" <https://arxiv.org/pdf/2410.08650>`_ by Marc Duclusaud, Gregoire Passault, Vincent Padois, and Olivier
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Ly .
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.. grid:: 1 2 2 2
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:gutter: 3
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:class-container: bam-getting-started
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.. grid-item-card:: 📐 Theoretical framework
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:link: theory
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:link-type: doc
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:class-card: bam-card
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The pendulum test bench dynamics and the friction-budget formulation
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used to apply BAM models in simulation.
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+++
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:doc:`Theoretical framework → <theory>`
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.. grid-item-card:: 🧮 Friction models (M1–M6)
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:link: models
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:link-type: doc
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:class-card: bam-card
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The six friction models of increasing expressiveness, from Coulomb
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friction to load-dependent and Stribeck effects.
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+++
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:doc:`Friction models → <models>`
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.. grid-item-card:: ⚙️ DC motor
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:link: dc_motor
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:link-type: doc
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:class-card: bam-card
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How servomotor sources are modeled as DC motors, turning current into
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torque.
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+++
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:doc:`DC motor → <dc_motor>`
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.. toctree::
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:hidden:
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theory
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models
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dc_motor
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