  We study translocation of semiflexible polymers driven by force $f_d$ inside
a nanometer-scale pore using our three-dimensional Langevin dynamics model. We
show that the translocation time $\tau$ increases with increasing bending
rigidity $\kappa$. Similarly, the exponent $\beta$ for the scaling of $\tau$
with polymer length $N$, $\tau \sim N^\beta$, increases with increasing
$\kappa$ as well as with increasing $f_d$. By comparing waiting times between
semiflexible and fully flexible polymers we show that for realistic $f_d$
translocation dynamics is to a large extent, but not completely, determined by
the polymer's elastic length measured in number of Kuhn segments $N_{\rm
Kuhn}$. Unlike in driven translocation of flexible polymers, friction related
to the polymer segment on the trans side has a considerable effect on the
resulting dynamics. This friction is intermittently reduced by buckling of the
polymer segment in the vicinity of the pore opening on the trans side. We show
that in the experimentally relevant regime, where viscosity is higher than in
computer simulation models, the probability for this buckling increases with
increasing $f_d$, giving rise to larger contribution to trans side friction at
small $f_d$. Similarly to flexible polymers, we find significant center of mass
diffusion of the cis side polymer segment. This speeds up translocation, which
effect is larger for smaller $f_d$. However, this speed-up is smaller than the
slowing down due to the trans side friction. At large enough $N_{\rm Kuhn}$,
the roles can be seen to be reversed and the dynamics of flexible polymers be
reached. However, for example, polymers used in translocation experiments of
DNA, are elastically so short, that the finite-length dynamics outlined here
applies.
