In the lowspeed applications of lightload industrial robots,there is obvious periodic ripple friction error when using the Coulombviscous friction model for joint torque calculation.A improved Coulombviscous friction model was proposed,which included the steadystate friction force represented by the Coulombviscous friction model and the ripple part dependent on position and velocity.The model was identified by step,and the characteristics of the Coulombviscous friction model were used to identify the steadystate friction parameters.Kmeans clustering algorithm,support vector regression (SVR) and overdetermined equations solution based on least squares method were used to identify the position dependencies in the model.The experimental results verify the validity of the model and the identification method.