TY - RPRT A1 - Rill, Georg T1 - Second-Order Dynamic Friction Model (FrD2) in a Nutshell N2 - 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. KW - Second-Order Dynamic Friction Model KW - Shifted Regularization KW - Fictitious Bristle KW - FrD2 Model Parameter KW - LuGre to FrD2 Y1 - 2025 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:898-opus4-80770 ER -