Efficient Dynamic Mo dels for Flexible Robots

Dynamic equations of motion of flexible manipulators are more complicated than those of rigid manipulators. The number of equations of motion increases as the number of modes to be included increases. It is difficult to Ullderstand the effect of flexible motion on rigid motion via recursive forms of the equations of motion for multi-link arm even if it were efficient. On the other hand, the closed form of the equations of motion is useful in understanding the characteristics of model parameters. However, the equations resulting from existing closed forms are too complex to serve this purpose. Therefore, a method which is structually well organized and computationally efficient is developed.