Research Article
Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model
Table 1
Correspondence between speed and friction torque.
| Speed (rad/s) | 0.35 | 0.56 | 1.00 | 3.30 | 6.00 | 7.50 | 10.00 | Friction torque (N·m) | −0.82 | −0.88 | −0.74 | −0.64 | −0.47 | −0.53 | −0.42 | Speed (rad/s)
| 15.00 | 17.50 | 20.00 | 25.00 | 30.00 | 34.70 | 40.00 | Friction torque (N·m) | −0.56 | −0.54 | −0.51 | −0.64 | −0.58 | −0.56 | −0.63 |
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