(Georgia Institute of Technology, 1987-04)
Book, Wayne J.; Cetinkunt, Sabri
This paper presents a new systematic algorithm to symbolically derive
the full nonlinear dynamic equations of motion of multi-link flexible
manipulators. Lagrange's-assumed modes method is the basis of the new
algorithm and adapted in a way suitable for symbolic manipulation by
digital computers. The advantages of obtaining dynamic equations in
symbolic form and of the presented algorithm are discussed. Application
of the algorithm to a two-link flexible arm example via a commercially
available symbolic manipulation program is presented. Simulation results
are given and discussed.