Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Dynamic Equations for a Two-Link Flexible Robot Arm



Jonathan W. Lee, B Wang


The dynamic equations for a two-link flexible robot arm have been derived rigorously. The arm is moving in the vertical plane. The payload is simulated by attaching additional masses to the arm at any specific locations. Although the governing equations of the system and the measurements are nonlinear, they are explicitly obtained. The control strategy and the general procedures to construct a liner observer and to formulate a control law are discussed.
Computers and Structures
29. No 3




Lee, J. and Wang, B. (1988), Dynamic Equations for a Two-Link Flexible Robot Arm, Computers and Structures, [online], (Accessed June 24, 2024)


If you have any questions about this publication or are having problems accessing it, please contact

Created December 29, 1988, Updated October 12, 2021