In this paper, friction identification is studied. After analysing the Karnopp model behaviour, a simple method based on three steps is presented for identifying its parameters. In the first step, the system mass and slip friction parameters are estimated. In the second step, based on the results obtained in the first step, the stick-slip border parameter (limited velocity) is determined, while in the third step the stiction force is estimated. The method is tested in simulation and in an experimental electropneumatic servo showing its high degree of efficiency.
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