Abstract: Several important issues relevant to modeling of flexible-link robotic manipulators are addressed in this paper. First, we examine the question of which inertial nonlinearities should be included ...

Abstract: Compliant contact force modeling has become a popular approach for contact and impact dynamics simulation of multibody systems. In this area, the nonlinear viscoelastic contact force model developed ...

Abstract: A three-dimensional single-point impact solution has been developed based on the original work of Keller. The formulation involves an integrated form of Keller’s equations and leads to a different ...

Abstract: This paper presents a series of experimental results obtained with a 2-DOF flexible-link direct-drive manipulator. First, we conduct a frequency analysis by comparing experimental natural frequencies ...