id	keyword
fumecheng-11470	friction
fumecheng-11470	model
fumecheng-11470	compensation
fumecheng-11470	robot
fumecheng-11470	friction compensation
fumecheng-11470	speed
fumecheng-11470	joint
fumecheng-11470	network
fumecheng-11470	friction model
fumecheng-11470	data
fumecheng-11470	torque
fumecheng-11470	fig
fumecheng-11470	mobile