Dynamic modeling of flexible manipulator based on a large number of finite elements

摘要

This paper discusses the issue of dynamic modeling for a flexible robot. The case of a flexible single-link manipulator is considered. Modeling work, which is limited to the reduced number of finite elements, represents some problems like the non-reality of dynamic behavior and the degradation of control performance. In order to remedy these problems, we the determination of the dynamic model based on Lagrange's equation and finite element method with a number of six finite elements has been proposed.