A Dynamic Model on a Single-Link Flexible Manipulator

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 manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control