Easily implement joint friction in kinematic models with ASOM v10

This example shows how to implement joint friction for revolute joints in kinematic models in ASOM. With the aid of joint friction elements, a pin diameter and a friction coefficient can be managed for each revolute joint.
With suitable contexts (calculation with and without consideration of all declared friction), the required manual forces with and without friction can then be compared in diagrams, for example. With the help of visualizers on the Canvas or with additional diagrams, the joint forces with and without friction can also be compared. If necessary, the arising friction torque can also be observed.
The presence of friction often results in small steps in curves that are influenced by it. These are caused by the reversal of the friction effect whenever the direction of the local relative rotational movement of two friction partners changes. This can be observed especially well if the coupler bar S2 is selected as reference when playing back the simulation.