Abstract
dynamic model of flexible manipulator arm having end position addition mass is deduced in the first place in this paper , then the state space expression and transfer function using drive moment as input and using elastic vibration of end position as output of flexible manipulator arm are obtained . the necessary and sufficient condition assuring stability of flexible manipulator arm system is obtained using Routh criterion , and the stability criterion of the elastic motion of end position is deduced . the influence of end position addition mass and drive joint rotary inertia on the elastic motion stability of end position of manipulator arm is analyzed based on the stability criterion .
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