This paper describes two approaches for the simultaneous identification of the coulomb and viscous parameters in kinematical joints. One is a time-domain method (TDM) and the other is a frequency-domain method (FDM). Simulation shows that both of the two methods have good performances in identifying friction at high SNR (90dB). But at low SNR (20dB), the estimation accuracy of the frequency-domain method is higher than that of the time-domain method. A field experiment employing a linkage mechanism driven by motor is also carried out. The experimental results obtained by the two approaches are almost identical under different experiment conditions. It has been concluded that the presented identification methods of friction in kinematical joints are correct and applicable.

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