Joint flexibility is common in industrial robots that have geared joints. In order to design a precision motion controller that compensates the effects of joint elasticity, an accurate dynamic model of flexible joint robots is required. The models that are commonly used ignore the gyroscopic interactions between the motors and links. In order to evaluate the influence of the ignored gyroscopic interaction, a complete dynamic model for flexible joint robots is derived in this paper. It is shown that when to realize high accuracy for high velocity trajectory tracking, the motor inertia is non-negligible compared to link inertia, and that the neglected interaction terms must be taken into account.

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