{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T10:18:05Z","timestamp":1771064285439,"version":"3.50.1"},"reference-count":25,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7225,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Although a variety of formulation schemes for the dynamic equations of robot manipulators with rigid links can be found in the literature, an efficient method of the formulation for robot manipulators with elastic links is not well known. Accordingly, this work presents the derivation of the equations of motion for application to mechanical manipulators with elastic links. The formulation is conducted analytically using Hamilton's principle. The resultant equations consist of the terms of inertial, Coriolis, centrifugal, gravitational, and exerted forces. They are expressed in terms of a set of independent generalized coordinates. In contrast to conventional variational approaches, the present method provides an efficient and systematic way for obtaining the compact symbolic equations of flexible manipulator systems. Two examples are presented to illustrate the proposed methodology. Firstly, a three\u2010link flexible manipulator with three revolute joints is studied. A flexible manipulator consisting of a prismatic joint and a discrete mass is the second model.<\/jats:p>","DOI":"10.1002\/rob.4620040307","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:23:59Z","timestamp":1183699439000},"page":"435-456","source":"Crossref","is-referenced-by-count":49,"title":["A systematic formulation of dynamic equations for robot manipulators with elastic links"],"prefix":"10.1002","volume":"4","author":[{"given":"K. H.","family":"Lowl","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-82198-1"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0020-7683(72)90038-8"},{"issue":"4","key":"e_1_2_1_4_2","first-page":"359","article-title":"Dynamics of a Chain of Flexible Bodies","volume":"27","author":"Hughes P. C.","year":"1979","journal-title":"J. Astronautical Sci."},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426959"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426423"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267343"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300305"},{"key":"e_1_2_1_9_2","unstructured":"A.Truckenbrodt \u201cDynamics and Control Methods for Moving Flexible Structures and Their Application to Industrial Robots \u201d Proc. of the Fifth World Congress on Theory of Machines and Mechanisms Montreal Canada 1979 pp.831\u2013834."},{"key":"e_1_2_1_10_2","unstructured":"A.Truckenbrodt \u201cEffects of Elasticity on the Performance of Industrial Robots \u201d Proc. of the IASTED International Symposium on Robotics Davos 1982 pp.52\u201356."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-81854-7"},{"issue":"2","key":"e_1_2_1_12_2","first-page":"57","article-title":"Controlled Motion of an Elastic Manipulator With Distributed Parameters","volume":"19","author":"Berbyuk V. E.","year":"1984","journal-title":"Mechanics of Solids"},{"issue":"5","key":"e_1_2_1_13_2","first-page":"17","article-title":"Dynamics of an Elastic Manipulator with Specified Control Moments of Motions of the Load","volume":"19","author":"Mikhailov S. A.","year":"1984","journal-title":"Mechanics of Solids"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100204"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(76)90099-7"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1980.4308393"},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"C. S. G.Lee B. H.Lee andR.Nigam \u201cDevelopment of the Generalized d' Alembert Equations of Motion for Mechanical Manipulators \u201d Proc. of the 22nd IEEE Conf. on Decision and Control Texas 1983 pp.1205\u20131210.","DOI":"10.1109\/CDC.1983.269715"},{"key":"e_1_2_1_18_2","unstructured":"K. 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N.Dubey \u201cDynamic Modelling of Flexible Manipulators \u201d Proc. of the IASTED International Conf. on Applied Simulation and Modelling Vancouver Canada 1986 pp.378\u2013384."},{"key":"e_1_2_1_24_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500405"},{"issue":"4","key":"e_1_2_1_25_2","article-title":"Inverse Dynamic Analysis of Spatial Manipulators With Elastic Links","volume":"11","author":"Low K. H.","year":"1987","journal-title":"Trans. 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