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We study a homogeneously driven granular gas of inelastic hard particles withrough surfaces subject to Coulomb friction. The stationary state as well as thefull dynamic evolution of the translational and rotational granulartemperatures are investigated as a function of the three parameters of thefriction model. Four levels of approximation to the (velocity-dependent)tangential restitution are introduced and used to calculate translational androtational temperatures in a mean field theory. When comparing thesetheoretical results to numerical simulations of a randomly driven mono-layer ofparticles subject to Coulomb friction, we find that already the simplest modelleads to qualitative agreement, but only the full Coulomb friction model isable to reproduce/predict the simulation results quantitatively for allmagnitudes of friction. In addition, the theory predicts two relaxation timesfor the decay to the stationary state. One of them corresponds to theequilibration between the translational and rotational degrees of freedom. Theother one, which is slower in most cases, is the inverse of the commonrelaxation rate of translational and rotational temperatures.Comment: 23 pages, 17 figure

A driven two-dimensional granular gas with Coulomb friction