How can I get the coriolis friction term in the motion equation of a flexible link robotic manipulator?

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Gianni Ferretti

http://www.tandfonline.com/doi/full/10.1080/13873954.2013.807433#.U0fERPl_uSo

Alexander Dietrich

based on the mass matrix:

http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf

-> equation (4.23)

page 189 in the PDF or 171 in the book, respectively.

Rainer Heinrich Palm

There is a nice publication by K.Y. Kuo and J. Lin which can be found at the internet:

"Fuzzy logic control for flexible link robot arm by singular perturbation approach".

Applied Soft Computing 2 (2002) 24–38

Coriolis and friction terms are seperately modeled in the dynamical equations as usual.

The term "coriolis friction" is mainly used in atmospheric force modeling. I don't know if this term is also used in modeling of robot dynamics.