STATIC AND DYNAMIC MODELING OF A 2-FLEXIBLE-LINK ROBOT MANIPULATOR

This paper is addressed at the difficulty of accurately modelling a tw o-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such man ipulators. Recent work concerned with the development of an accurate s ingle-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which pro perly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexible-link s ystem.