Identification of friction in a robotic astronomical 0.5-m telescope mount

The goal of this paper is to examine the friction behaviour in the new robotic astronomical mount. Friction is one of the main disturbances present in this system. Its influence is mostly visible during the velocity reversals. Identification and compensation of the friction is crucial to achieve subarcsec tracking accuracies at very low velocities. In this paper the procedure for identification of static and dynamic frictional parameters of LuGre and Leuven model is presented. The experimental results show characteristic behaviours of friction present both in sliding and in presliding regime.