Adaptive Friction Compensation for a Novel Two-Axis Differential Microfeed System

Table 1

Friction model parameters of two-axis differential microfeed system.

Parameter	Lead screw drive shaft		Lead nut drive shaft
	Forward rotation	Reverse rotation	Forward rotation	Reverse rotation
	92.3	−86.5	76.6	−72.1
	114.8	−105.1	108.9	−101.3
	1.13 × 10–3	−1.16 × 10–3	9.31 × 10–4	−9.46 × 10–4
	3.05 × 103	2.64 × 103	3.12 × 103	2.99 × 103
	3.56 × 107		3.62 × 107
	5.12 × 103		5.70 × 103