Abstract
Modeling of flexible link robot manipulators can be achieved by using tne Euler-Lagrange equations of motion, resulting in a closed-form model which strongly depends on the knowlegde of the used mode shapes. In addition, computing the natural frequencies of the manipulator represents a drawback of a pure analytical modeling. In this contribution, a very flexible two-link robot is modeled by using the Euler-Lagrange equations of motion. Once the closed-form model is obtained, all the unknown parameters are determined experimentally.
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