A sequential integration method for inverse dynamic analysis of flexible link manipulators

A sequential integration method is proposed for the inverse dynamic analysis of flexible link manipulators. Due to link deflections, the kinematic and dynamic equations of flexible link manipulators are coupled. Based on the proposed method, while solving the dynamic equation for link deflections explicitly, joint motions can be implicitly obtained with the help of the kinematics of flexible link manipulators. Then substitution of the computed joint motions and link deflections into the dynamic equation for the joint torques leads to the solution of the problem of the inverse dynamics. The proposed method is conceptually and computationally straightforward. Its effectiveness is demonstrated by a number example