An efficient calculation of computed torque control of flexible manipulators

In this paper, we propose an efficient recursive computation of the nonlinear computed torque law of flexible manipulators. The algorithm is based on the generalized Newton-Euler model of flexible manipulators and can be considered as a generalization of the computed torque control algorithm of rigid robots proposed by Luh-Walker-Paul (1980). It is programmed using Mathematica to get automatically an efficient customized symbolic model with reduced number of operations