An Improvement Proposal to the Static Friction Model

Table 1

Estimated friction parameters.

Parameter	Value (+)	Value (−)	Unit
𝑓𝑐	8.955	10.01	Nm
𝑓𝑣	5.234	5.335	Nms/rad
𝑓𝑠	17.617	23.813	Nm
𝑣𝑠	0.145	0.078	rad/s
𝑡𝑠	0.888	1.954	Nm/s
𝛿𝑣	1.032	1.286
𝛿𝑡	0.172	0.287
𝜎0	17260		Nm/rad
𝜎1	66.708		Nms/rad