Modeling of flexible manipulators using virtual rigid links and passive joints

For developing a dynamic model of a flexible manipulator, a modeling scheme using virtual rigid links and passive joints is proposed. The parameters of the model are identified by measured data of the real arm, so it is expected that the dynamic behavior of the model is similar to that of the real arm. The equations of motion of an N degree of freedom flexible arm using this model are derived to simulate its dynamic behavior. The results of simulation and experiment show the validity of this modeling scheme