Abstract: Abstract The paper discusses modeling and control of mechatronic systems with flexible links, which are widely used for manipulation tasks. At the first stage, a dynamic model of a mechatronic system with a flexible rotational link was obtained based on the Euler-Lagrange equations and the method of the assumed modes. The resulting model has finite dimensionality and can be easily adopted for simulation in order to study the dynamic characteristics of the system and further for trajectories planning and motion control. The algorithm for calcula...
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Topics: 
Control engineering