We consider the opening and closing of the door by using the door handle or also (at least for the opening process) by pushing on the door directly (this having a shorter lever arm).
The friction that occurs at the joints of this mechanism is taken into account in a simplified way, by using constant friction torques that are not force-dependent. Friction coefficients and pin diameters are also available for joint friction in the kinematics software ASOM, but are not necessary here.
The kinematic inner workings of the door closer are also taken into account in a simplified manner (only as a Black Box), modeled by a programmable torque.
