SIMULATION OF AN OPEN-CHAIN OF FLEXIBLE LINKS IN A MIXED FORMALISM

This article presents the second part of a research work devoted to mo deling and control of robots with flexible links. First, we recall the generalization of the Newton Euler equations for an open chain of fle xible links. These equations constitute an original dynamic model beca use they represent the dynamic behavior of the chain with a mixed form alism, because it is both Lagrangian and Eulerian. This formalism allo ws us to find the linear intrinsic dynamic model of links. Second, we exhibit the constrained nature of these equations. We use a numerical integration method for a constrained system, and an updating procedure well suited to our particular formalism. Finally, simulation results on spatial kinematics involving up to three links are reported. (C) 19 95 John Wiley & Sons, Inc.