Simulation of Flexible-Link Manipulators Applying Sequential Integration Method

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 motion and a linear small motion. In this paper, a sequential integration method facilitates the solution of the system equations. This method integrates the large (slow) motion equation explicitly and integrates the small (fast) motion equation implicitly. The simulation results are presented to show the computation efficiency and the flexibility effects.