SUMMARY

Although it is reasonable to assume rigid dynamics when the components of the robot are very stiff, in the real world there is no such thing. Flexibility is the major issue why robot arms are slow and heavy, since vibrations are hard to measure and control. This work presents a novel method for modelling serial chains of links in 3D space. A new formulation on how to compose the dynamical model for a flexible link serial robot is derived. The work is concluded by using estimated data of the flexible states to feedback control the robot arm without significant oscillations. The theoretical models are compared to by experimental data.