Stephen M. Phillips, Kevin R. Ballou. Friction modeling and compensation for an industrial robot. J. Field Robotics, 10(7):947-971, 1993. [doi]
@article{PhillipsB93,
title = {Friction modeling and compensation for an industrial robot},
author = {Stephen M. Phillips and Kevin R. Ballou},
year = {1993},
doi = {10.1002/rob.4620100705},
url = {http://dx.doi.org/10.1002/rob.4620100705},
researchr = {https://researchr.org/publication/PhillipsB93},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {10},
number = {7},
pages = {947-971},
}