This paper deals with the effectiveness of Extended Reduced Order Physical Model (EROPM) for elastic multibody systems with arbitrary boundary conditions. A novel formulation is applied to the modeling of a two-link flexible robot arm. Flexible links are modeled by using the proposed modeling method. The two-link flexible robot arm model is derived by connecting these flexible links. LQI control theory is applied for the control of the two-link flexible robot arm. The effectiveness of “EROPM with arbitrary boundary condition” is shown through simulation and experimental results.

This content is only available via PDF.
You do not currently have access to this content.