MODELING METHOD FOR ELASTIC MULTIBODY SYSTEMS WITH ARBITARY BOUNDARY CONDITIONS BY USING EXTENDED REDUCED ORDER PHYSICAL MODEL AND ITS APPLICATION TO A TWO-LINK FLEXIBLE ROBOT ARM

摘要

This paper deals with the effectiveness of Extended Reduced Order Physical Model (EROPM) for elastic multibody systems with arbitrary boundary conditions. A novel formulation is applied to the modeling of a two-link flexible robot arm. Flexible links are modeled by using the proposed modeling method. The two-link flexible robot arm model is derived by connecting these flexible links. LQI control theory is applied for the control of the two-link flexible robot arm. The effectiveness of "EROPM with arbitrary boundary condition" is shown through simulation and experimental results.