A Novel Time-Varying Friction Compensation Method for Servomechanism

Table 5

Friction compensation performance indicators with different S-shaped motion trajectories.

Trajectory	WTFC (µm)				WFC (µm)
	S1; mm,  mm·s^−2	7.18	2.25	7.18	3.02	1.00	0.38	1.00	0.47
mm,  mm·s^−2	7.89	2.32	7.89	3.29	1.84	0.69	1.84	0.77
mm,  mm·s^−2	8.46	2.45	8.46	3.32	1.92	0.71	1.92	0.82
mm,  mm·s^−2	9.28	3.66	9.28	4.55	2.15	0.73	2.15	0.85

WTFC: without friction compensation; WFC: with friction compensation.