In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). The flexible link model we propose is different from classical approaches because it takes into account the infinite dimensional nature of elasticity, since it does not rely on any finite dim...

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A control method without state feedback of the free link is proposed for swing-up and stabilization at the upright position of a flexible free link in a twolink underactuated flexible manipulator (the active first and free second links are rigid and flexible, respectively). The proposed method is based on the actuation of bifurcations produced in the second link under high-frequency excitation ...