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Abstract

Friction is a phenomenon present in all mechanical systems and is undesirable in estimation and control tasks. This paper explores the characteristics of friction in the transmission of an electric mining shovel, with a view to compensating for them. Experiments suggest that the transmission friction can be described by a Coulomb friction model with associated uncertainty on the friction force. The Kalman Inverse Filter is evaluated as a method for adaptively estimating the friction for motion of the bucket through free-space. The friction estimates are consistent with experimental results. © 2007 Wiley Periodicals, Inc.