The development of high speed and light weight manipulators for complex robotic assembly tasks and remotely operated space programs has motivated research work in the field of dynamic modeling and control. A kinematic and dynamic model of serial link manipulators with flexible links and joints has been developed. This model is based on a Lagrangian formation of the equations of motion with a minimal set of system variables. The flexibility is represented by decomposition of the deformations on modal basis for each of the links. Simulation results are presented for a 1 and 2 link planar arm.
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