In this paper, several friction features and models are discussed in the context of the dynamical nature of friction force observed during experiments. On the basis of experimental and theoretical analysis, the authors show that such behaviour can be considered as a certain representation of the system dynamics. According to this approach, a classification of friction models with respect to their sensitivity on the system motion character is introduced. Next, the results of experimental research are reported. Friction characteristics reconstructed experimentally for various types of the system response, i.e. periodic, quasi-periodic, and chaotic, are demonstrated. Finally, these results are compared with numerical simulations using the proposed friction model.
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