Simulation of flexible manipulators using Newton-Euler inverse dynamic model

This paper presents an efficient algorithm for the calculation of the direct dynamic model of flexible manipulators. The algorithm is based on the inverse Newton-Euler model of flexible manipulators as developed previously by the authors (1995). The given algorithm can be considered as a generalization of the rigid manipulators algorithm given by Walker-Orin (1982). The algorithm is programmed using Mathematica to obtain automatically customized symbolic models with reduced number of operations