Dynamic Modeling and Parameter Identification of Flexible Link Manipulator

Flexible manipulators are extensively utilized in high-speed and heavy-duty applications due to their advantages of light weight, high energy efficiency, and superior dexterity. Nevertheless, their complex dynamic behavior presents signifi-cant challenges for accurate modeling and control. This paper investigates the dynamic modeling and parameter identification of flexible manipulators. A general dynamic model for an n-link flexible manipulator, incorporating structural damping, hub inertia, and payload effects, is developed using the Euler-Lagrange method in conjunction with the Assumed Modes Method (AMM). The least squares method is then employed to determine the set of inertia parameters. For the case of a single-link flexible system, simulations are conducted to assess the system responses in both time and frequency domains, demonstrating that the proposed approach effectively estimates the inertial parameter set with satisfactory accuracy, thus validating the model's correctness and providing a solid foundation for developing precise control strategies for flexible manipulators.