Dynamics Modelling of a Hyper-Flexible Manipulator

Abstract

In this paper, a three-dimensional dynamics model of a hyper-flexible manipulator like a string is derived based on a slice of the arm, which is regarded as a rigid link with an infinitesimal width of a serial rigid chain manipulator. We show the model in three forms familiar in theory of robot control, i.e., Newton-Euler, Lagrange and regressor representations.