@techreport{Rill, type = {Working Paper}, author = {Rill, Georg}, title = {Second-Order Dynamic Friction Model (FrD2) in a Nutshell}, doi = {10.35096/othr/pub-8077}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-80770}, pages = {9}, abstract = {The well-known LuGre friction model generates dynamic friction forces. This force results from the approximation of the dynamics of a massless fictitious bristle. However, it has several drawbacks and fails to reproduce predefined friction characteristics. The second-order dynamic friction model (FrD2) avoids these drawbacks and accurately reproduces friction characteristics. The FrD2 model is based on a fictitious bristle whose mass automatically adapts to visco-elastic bristle properties. The FrD2 model describes friction characteristics using piecewise-defined analytical functions and applies shifted regularization, which allows for smooth handling of stick-slip transitions. FrD2 parameters can easily be derived from LuGre model parameters.}, language = {en} }