抄録
The purpose of this study is to make a model of two-link flexible robot arms. We had used a modeling method called an 'extended reduced-order physical model (extended model)' to make a model of one-link flexible robot arm. The model of the two-link flexible robot arms is made of a combination of the model of each link that is regarded as one link flexible robot arm. To connect each link, the constraint addition method is used. This is creating method of an equation of motion in multi-body systems. The model of the two-link flexible robot arms agrees qualitatively with the experimental results. The LQI control theory is applied to the control of motion and vibration. It is verified that the results of the simulation are effective for control of two-link flexible robot arms.
