Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynami...

A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in ...

A control method without state feedback of the free link is proposed for swing-up and stabilization at the upright position of a flexible free link in a twolink underactuated flexible manipulator (the active first and free second links are rigid and flexible, respectively). The proposed method is based on the actuation of bifurcations produced in the second link under high-frequency excitation ...