DYNAMIC EQUATION OF THE FLEXIBLE MANIPULATOR SYSTEM

In this paper,utilizing the generalized dynamic equation,the dynamic equation of the flexible manipulator system with a single chain is developed,and the recursive formulation for resolution process of these equations is analysed.Thus,it is enough to sloive the equation in lower order for every recursion and it isconvenient to calculate.Moreover,a scheme of solution for the dynamic equations of the tree-shaped flexible multi-body system is discussed.These equations are similar to the dynamic equation of the flexi-ble manipulator system with a single chain.Therefore,it is convenient to compile the computer programs.