Dynamic stability analysis of a one‐link force‐controlled flexible manipulator

Abstract

Abstract This study analyzes the effects of link flexibility on the dynamic stability of a force‐controlled flexible manipulator. The closed‐loop dynamic equation for a l‐link manipulator is first derived explicitly using the modal representation technique. Stability analysis is then carried out by computing the system eigenvalues. Results show that the link flexibility is one of the causes of dynamic instability of motion of the flexible robotic arm.