Analysis of manipulators with flexible joints and links

Analysis and controller design for manipulators exhibiting joint elasticity and link deformation are considered. The model utilized is the nonlinear integro-partial differential equations resulting from the extended Hamiltonian principle. The model takes into account the effects of the centripetal forces, centrifugal stiffening, and the Coriolis force. Parameters representing the stiffness of the link and the joint compliance are embedded into the dynamics of the manipulator on the basis of which an asymptotic perturbation approach is taken for the analysis of the dynamics. It is shown that the dynamics are resolved to the rigid body motion, the flexural effects, and the elastic forces at the joints by embedding parameters in the model and appealing to the asymptotic perturbation techniques.<>