Research Article
Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline Function
Table 3
Parameters of revolute joint in Simscape.
| Joint | Values of mass (kg) | Breakaway friction torque (Nm) | Breakaway friction velocity (rad/s) | Coulomb friction torque (Nm) | Viscous friction coefficient (Nm/(rad/s)) |
| 1 | 4.077 | 30 × 10−3 | 0.01 | 24 × 10−3 | 0.001 | 2 | 1.832 | 10 × 10−4 | 0.01 | 5 × 10−4 | 0.001 |
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