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.
and Wang, B.
Dynamic Equations for a Two-Link Flexible Robot Arm, Computers and Structures, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820218
(Accessed December 11, 2023)