Abstract: A research tool was developed for the dynamics and control of a single-flexible-link arm based on the Equivalent Rigid Link System (ERLS) dynamic model and the inverse dynamics of the arm and ...

Abstract: This paper presents a method for simulating systems with two inertially coupled motions, i.e., a slow motion and a fast motion. The equations of motion are separated into two sets of coupled ...

Abstract: An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link ...

Abstract: The Equivalent Rigid Link System (ERLS) is presented for the analysis of the kinematics of manipulators with flexible links. The concept of the ERLS is to separate the rigid-body dynamics and ...

Abstract: This paper presents a dynamic model for the robotic manipulators with flexible links by means of the Finite Element Method and Lagrange’s formulation. By the concept of the Equivalent Rigid ...

Abstract: The Equivalent Rigid Link System (ERLS) dynamic model offered a complete representation for the dynamics of flexible manipulators. The equations of motion were separated into a nonlinear large ...

Abstract: Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed ...