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 |
|
|
