Recursive Formulation for Dynamics of Manipulators with Joint Friction

By assuming rigidity and considering joint friction, the general recursive formulation for manipulators with joint friction is performed based on the kinematic recursive relationship between the adjacent rods. Due to decreasing the coupling of the dynamical equations of the manipulators and considering the non-smoothness in joints, the method can improve the modeling accuracy and the operation efficiency and so be helpful for realizing the real-time control of the manipulators.