Dynamic model of two-link robot manipulator with both structural and joint flexibility

G. B. Yang, M. Donath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations


The authors have developed a simplified but accurate dynamic model which describes the motion of a robot manipulator incorporating both structural and joint flexibility. A set of coupled dynamic equations was obtained based on the Assumed-Mode Method and on orthogonality relations for a two link/two joint system. The orthogonality relationship developed for the second derivatives differs from that used in systems having only structural flexibility. It was shown that for small joint and structural deflections the simplified dynamic equations were accurate when compared to the simulation results of a detailed model. Simulation of varying joint stiffness characteristics indicates that there is no rigid mode for the flexible joint system.

Original languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherPubl by American Soc of Mechanical Engineers (ASME)
Number of pages8
StatePublished - Dec 1 1988
EventSymposium on Robotics - Chicago, IL, USA
Duration: Nov 27 1988Dec 2 1988


OtherSymposium on Robotics
CityChicago, IL, USA


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