Use of inverse dynamics for trajectory tracking of flexible-link manipulator with account of link shortening effect

In this paper, the deflection of a two-link flexible manipulator has been modeled with each point on the flexible link being described by both axial and lateral displacement variables instead of lateral displacement variable only. This has been possible by including the shortening of the projection effect on the deformed link. A control law based on computed-torque formulation has been utilized to expose the difference between the responses of the two models, and thus the impact of the shortening of projection effect due to the flexible link deformation on following the desired trajectory is presented.