Abstract
Dynamic analysis for flexible manipulator is very important for selecting the actuator size and designing the proper control strategy. The effect of different sets of initial and boundary conditions on the joints torques is investigated in this paper. The elastic deflection for each link is computed using the assumed modes methods for four modes of vibration. A third order polynomial trajectory is designed in the joint space and the required torques are obtained through the solution of the inverse dynamics problem. The obtained results showed that the boundary conditions have a considerable effect on the elastic deflection and the corresponding actuators’ torques as well.
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