A NEW MODEL FOR FLEXIBLE-JOINT ROBOT MANIPULATORS

Abstract

Abstract. We propose a new model for robot manipulators with rigid links and flexi-ble joints. Our model is expressed in Cartesian dependent coordinates which represent the positions, orientations and velocities of the links and the rotors, as opposed to independent generalized coordinates in which classical “Lagrangian ” models are de-fined. The model consists of a set of dynamics equations and holonomic constraints. We believe this model may facilitate the task of observer-design based tracking con-trol.