Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, power consumption, higher load capacity, high-speed operation, small actuators and production costs. However, position speed flexible system are very difficult control tip vibration that result degradation performance. Modelling a double-link robot presented this study. Contr...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method used with Lagrangian formulation to obtain equations motion. Explicit motion are derived for a three-link case assuming two vibration each link. eigenvalue problem associated mass boundary conditions, which changes robot configuration and payload, discussed. time-domain simulation re...

Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynami...