First-order equations of motion for manipulators with modified viscous damping model

Some properties of first-order equations of motion, described originally by Jain and Rodriguez, with a viscous damping model are presented in this paper. The equations arise from a manipulator mass decomposition and are applicable for serial manipulators. In contrast with classical viscous damping model the modified viscous damping model takes into account both kinematic and mechanical parameters of the manipulator. The proposed approach is shown for a 2-DOF planar manipulator and a 3-DOF spatial robot arm.