Consistent first and second order dynamic model of flexible manipulators

This article presents a new approach of modeling the dynamics of flexible manipulators composed of slender elastic beams. Contrary to the standard dynamic modeling approaches the model proposed here does not require any assumption on the smallness of the elastic displacement and rotation fields. Thus the given model is completely nonlinear with respect to the elastic kinematics and leads by using Taylor series expansions to the exact first and second order dynamic models