Experimental Validation of Nonlinear Dynamic Models for Single-Link Very Flexible Arms

This paper proposes some new nonlinear dynamic models for single-link flexible manipulators that experience large deflections. These models are developed under the assumption of a very lightweight arm with all its mass concentrated at the tip. Two models are proposed that are validated experimentally. The first of them is the typical linear model. The second one is a new nonlinear model that exhibits the advantages of being very simple while being very accurate too. Compared with the previously defined models, which are based on finite elements numerical techniques, our models are described by nonlinear ordinary differential equations that are well suited for analysis and design of closed loop control systems for tip positioning.