This information is part of the Modelica Standard Library maintained by the Modelica Association.
The elasticity and damping in the gearboxes of the outermost three joints of the robot is neglected. Default values for all parameters are given for joint 4.
Description: Gear ratio
Type: Torque (N·m)
Description: Viscous friction torque at zero velocity
Description: Viscous friction coefficient in [Nms/rad] (R=Rv0+Rv1*abs(qd))
Value: 26.7 / 21.8
Description: Maximum static friction torque is peak*Rv0 (peak >= 1)
Axis model of the r3 joints 4,5,6