A Modelling Scheme for Flexible Robot Manipulators

Aim To propose a modelling method for flexible manipulators. Methods The improved algorithm and structure of the ANN (artificial neural networks) were used. All of the data used in the process of modelling came from experiments based on a very flexible link which was fixed on a FANUC Robot S-Model 300 in our lab.Results and Conclusion The theoretical analysis and experiment results showed that this modelling scheme is more suitable for flexible systems with characteristics of fast changing dynamics, and also it can be more accurate than others and is more convenient for real-time use.