Modelling of a Single-Link Flexible Manipulator System

This paper presents theoretical and experimental investigations into modelling a single-link flexible manipulator system. An analytical model of the manipulator, characterised by an infinite number of modes, is developed, using the Lagrange's equation and modal expansion method. This is used to develop equivalent time-domain and frequency-domain working models of the system in state-space and transfer function forms respectively. The model parameters are then estimated experimentally using system's measured input/output data. The model thus obtained is validated through experimentation and experimental results including the effect of payload on system characteristics presented and discussed.