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