This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...

In this article it is shown how the end effector position of a single flexible-link robot can be directly controlled by the angular position of its joint, so that, trajectory tracking in the end effector of the robot is possible by properly designing a reference trajectory for the joint angle. In order to ensure trajectory tracking of the angular position of the robot joint, a Sliding Modes Con...

This paper presents a methodology to analyze dynamics of flexible space robot using bond graph. In case of space robots the position and orientation of the satellite main body may change when the manipulator moves. Motion of the space robots also induces vibrating motions in structurally flexible manipulators. Researchers working on terrestrial flexible robot arms principally have focused on is...

The combination of a rigid and a flexible link in a space robot is an interesting field of study from modeling and control point of view. This paper presents the bond graph modeling and overwhelming trajectory control of a rigid-flexible space robot in its work space using the Jacobian based controller. The flexible link is modeled as Euler Bernoulli beam. Bond graph modeling is used to model t...