Multi-Mode Modelling of a Flexible Link Robot Mnaipulator

This paper is addressed towards the problem of developing an accurate static and dynamic model for a two-flexible-link manipulator. The inadequacy of existing techniques for flexible link modelling is explained and a new formulation, based on an assumed mode modelling technique with a correction factor derived from finite element analysis, is derived. This takes account of second and third modes in the dynamics and is shown to provide an improvement in model accuracy compared with most modelling algorithms which neglect these higher models