Abstract—When a robot manipulator operates at high speeds, the elastic vibration of its links is inevitable. To study this vibration phenomenon, the present paper deals with the problem of modelling, the dynamic stability control and calculating inverse dynamics of a single-link flexible manipulator. An algorithm to study dynamic stability and calculate inverse dynamics of flexible manipulators is proposed. The proposed algorithm is demonstrated and verified by the model of a flexible single-link manipulator. Through numerical simulation, the efficiency and usefulness of the proposed algorithm were demonstrated as well.

Keywords—flexible manipulator, linearization, Taguchi method, dynamic stability, periodic system

Cite: Nguyen Van Quyen, Bui Thi Hai Linh, Duong Quoc Tuan, Nguyen Trung Thanh, and Nguyen Hong Quang, "Dynamic Stability Control and Calculating Inverse Dynamics of a Single-link Flexible Manipulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 4, pp. 200-209, July 2023. 

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