Abstract
The purpose of this study is to control simultaneously, motion and vibration of flexible 2-link robot arms. For this purpose, we had used modeling method called an 'extended reduced-order physical model (extended model)' to make a model of one-link flexible robot arm. The model of the flexible 2-link robot arms is made of a combination of the model of each link that is regarded as one link flexible robot arm. To connect each link, the constraint addition method is used. This is creating method of an equation of motion in multi-body systems. It is verified that the results of the simulation are effective for control of flexible 2-link robot arms.
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