Mathematical Modeling of a Thin Two-Link Flexible Robot Arm

More than three decades, flexible link robot arms have attracted attention from the researchers around the world due to advantages over conventional robot arms. The advantages include less overall mass, less energy consumption, smaller actuators and faster responses. This paper focuses on mathematical modeling for a thin two-link flexible robot arm operating in planer plane. The model was derived based on energy model and Lagrangian method. Computer simulation is also given to validate the effectiveness of the model. The results yield a satisfaction and imply the application of the area for applied science and engineering field in robotics and automation.

Keywords: mathematical modeling

Corresponding author: E-mail: cast@kmitl.ac.th