Finite element approach to dynamic modelling of a flexible robot manipulator: Performance evaluation and computational requirements

This paper presents a performance evaluation and the computational requirem ents of using the finite element (FE) method for modelling flexible robot m anipulators. A constrained planar single-link flexible manipulator is consi dered. Finite-dimensional simulation of the manipulator is developed using the FE method and is implemented on two computing domains. The simulation p erformance, on the basis of accuracy in characterizing the behaviour of the manipulator and computational, efficiency, are assessed. Copyright (C) 199 9 John Wiley & Sons, Ltd.