标题：Recursive formulation for dynamics of manipulators with joint friction
作者：Yao, Wenli ;Gao, Lulu
作者机构：[Yao, Wenli ] Science College, Qingdao Technological University, Qingdao, China;[Gao, Lulu ] College of Information Science and Engineering, Shandong 更多
来源：Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010
摘要：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. © 2010 IEEE.