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What is Dynamic Modelling of Flexible Manipulators about?

This document presents a technique for dynamically modeling a manipulator robot with multiple flexible links and flexible joints. The modeling approach uses a combined Euler-Lagrange formulation and assumed modes method. Computer simulations validate the general model by considering a two-link flexible manipulator with joint elasticity. The modeling captures the complex control challenges of such an under-actuated system with flexible links and joints. A singularly perturbed model is developed and used to d

Author

Hung Nguyen-Cong

Language

EN