Systematic methods for efficient modeling and dynamics computation of flexible robot manipulators

Systematic methods for efficient modeling and dynamics computation are developed, using the Lagrangian assumed modes method. The methods greatly reduce the number of mathematical operations (i.e. multiplications and additions) required for the modeling and dynamics computation of flexible manipulators. The link deflection is described by a truncated modal expansion. The operations of 3×3 matrices and/or 3×1 vectors only exist in the methods. All the dynamics computations are performed in the link coordinate systems, in which the kinematics information is computed with the forward recursion from the base to the hand tip and the dynamics information is computed with the return recursion. As compared with other existing methods, the methods proposed here are computationally more simple, systematic, and efficient. Simulation results for a single-link flexible robot manipulator are presented to verify the methods and the algorithms proposed