Research Article
An Improvement Proposal to the Static Friction Model
Table 1
Estimated friction parameters.
| Parameter | Value (+) | Value (−) | Unit |
| | 8.955 | 10.01 | Nm | | 5.234 | 5.335 | Nms/rad | | 17.617 | 23.813 | Nm | | 0.145 | 0.078 | rad/s | | 0.888 | 1.954 | Nm/s | | 1.032 | 1.286 | | | 0.172 | 0.287 | | | 17260 | Nm/rad | | 66.708 | Nms/rad |
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