models.friction¶

Static friction of an actuator: the torque it takes, a smooth function of the applied one.

Functions

`as_friction`(value)	`value` if it is a `StaticFriction`, the one a dict describes, or `None` for none.
`friction_torque`(u, F, Fc, w)	τ_f for numbers: the map of `StaticFriction` with breakaway `F`, kinetic `Fc` and smoothing `w`.

Classes

`StaticFriction`([breakaway, kinetic, width])	The torque τ_f that friction takes from an actuator, as a function of the applied one u.