@article{gervini_gomes_rosa_2003,  title={A new robotic drive joint friction compensation mechanism using neural networks},  volume={25},  ISSN={1678-5878},  url={https://doi.org/10.1590/S1678-58782003000200004},  DOI={10.1590/S1678-58782003000200004},  number={2},  journal={Journal of the Brazilian Society of Mechanical Sciences and Engineering},  publisher={Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM},  author={Gervini, V. I. and Gomes, S. C. P. and Rosa, V. S. da},  year={2003},  month={Apr},  pages={129–139} }