URN:NBN:SI:DOC-PUJV2OEC2026Tang, JinlongWan, JunWang, KehongYun, NuoZhang, Xiao YongZhou, ZiHaodocuments/doc/P/URN_NBN_SI_doc-PUJV2OEC_001.pdfdocuments/doc/P/URN_NBN_SI_doc-PUJV2OEC_001.txt1/272articlestr. 40-510039-248010.5545/sv-jme.2025.1489272814339URN:NBN:SI:doc-PUJV2OECeng= Association of Mechanical Engineers and Technicians of Slovenia etc.Zveza strojnih inženirjev in tehnikov Slovenije etc.Strojniški vestnikInCexternal force estimationfriction compensationfuzzy neural networkskompenzacija trenjamehke nevronske mrežeocena zunanjih silStribeck modelStribeckov modelFriction compensation and external force estimation for robotic systems using a fuzzy neural network approach