Chapter 1


Chapter Outline

1.1 Background and Problem Statement

The difference between a flexible and a rigid manipulator can be explained both physically and mathematically. In terms of physics, a rigid manipulator has theoretically only one fundamental frequency of vibration with an infinite value, and thus can move at any desired speed without significant tip deflection and body deformation, leading to a large link mass and a correspondingly low energy efficiency; a flexible manipulator, on the other hand, has many fundamental frequencies of vibration with finite values and thus can experience significant tip deflection under normal ...

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