MODELING AND CONTROL OF ROBOT FLEXIBLE ARM

Based on the state of the current research, the characteristics of flexible manipulators are analysed, and several main problems in modeling and control of flexible manipulators, especially the problem of the spillover phenomenon. are discussed. Hereby a model of a one-link flexble arm has been found, and then the stability conditions of the system are obtained (even when the spillover phenomenon exists). The simulation results are also liven in this naraer.