A Novel Time-Varying Friction Compensation Method for Servomechanism

Table 2

Setting values of friction compensation module.

Parameter	-axis	-axis
(mm·s^−2)	5	5
(mm·s^−2)	150	150
(mm·s^−2)	50	50
(mm·s^−2)	100	100
	10	10
	8	8
	8	8
	10	10
	4	4
(mm)	0.01	0.01
(mm·s^−1)	0.5	0.5
(mm·s^−1)	0.5	0.5
(s)	0.005	0.005
(s)	0.003	0.003