Abstract
This chapter presents numerical approaches based on finite difference (FD) techniques for dynamic simulation of single-link flexible manipulator systems. A finite-dimensional simulation of the flexible manipulator system is developed using an FD discretisation of the dynamic equation of motion of the manipulator. Structural damping, hub inertia and payload are incorporated in the dynamic model, which is then represented in a state-space form. Case study simulation exercises and associated results characterising the dynamic behaviour of the manipulator are presented and assessed with experimental results in time and frequency domains.
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