Abstract: Joints of manipulators usually include radial revolute joint, thrust revolute joint, radial thrust revolute joint and sliding joint. Formulations of Coulomb friction and viscous friction for various types of joints are established according to structure features of the joints. Based on the above work, the algorithm for inverse dynamic problem of manipulators with these frictions is presented. As an illustrative example of the algorithm, STANFORD manipulator is studied. Numerical results show that there are obvious differences between magnitudes of driving torques with friction effects and without friction.