Simulation of an open chain of flexible links in a mixed formalism

This article presents the second part of a research work devoted to modeling and control of robots with flexible links. First, we recall the generalization of the Newton Euler equations for an open chain of flexible links. These equations constitute an original dynamic model because they represent the dynamic behavior of the chain with a mixed formalism, because it is both Lagrangian and Eulerian. This formalism allows us to find the linear intrinsic dynamic model of links. Second, we exhibit the constrained nature of these equations. We use a numerical integration method for a constrained system, and an updating procedure well suited to our particular formalism. Finally, simulation results on spatial kinematics involving up to three links are reported. (c) 1995 John Wiley & Sons, Inc.