IEEE International Conference on Robotics and Automation, Proceedings
This paper presents an efficient algorithm for the calculation of the direct dynamic model of flexible manipulators. The algorithm is based on the inverse Newton-Euler model of flexible manipulators as developed previously by the authors (1995). The given algorithm is programmed using Mathematica to obtain automatically customized symbolic models with reduced number of operations. Keywords: manipulator dynamics; inverse problems; Newton method; flexible structures; simulation; matrix algebra; symbol manipulation.