Abstract
In this paper, we discuss the modeling of flexible manipulators, for which there are two approaches: one based on distributed-parameter modeling and the other on lumped-parameter modeling. The former has been applied to control and analysis of simple manipulators requiring precision, while the latter has been applied to multilink spatial manipulators, because of the model's simplicity. We have already proposed a lumped-parameter modeling method for multilink spatial flexible manipulators. In this paper, we apply our lumped-parameter modeling method to a simple manipulator, and investigate what degree of precision we can obtain using the model. Experiments and simulations are performed and, based on comparison of the results, the approximation performance of our modeling method is discussed.
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