Types of friction and compensation

Friction

Friction basically occurs at points of contact between bodies moving relative to one another. It manifests itself as the force that counteracts the motion.

According to Stribeck, the following friction curves result at different velocities:

The constant component of friction at velocity v = 0 results in a surge in frictional force at speed reversal resulting in backlash.

Theoretical friction curve
Theoretical friction curve
Measured friction curve
Measured friction curve