Elastic motion stability analysis of flexible manipulator arm

the end position addition mass and activation joint rotary inertia have important effect on elastic motion stability of flexible manipulator arm. On the basis of mode analysis, the dynamics model of flexible manipulator arm is deduced using Lagrange equation, the state space expression and transfer function are deduced after state variable and input-output are selected. The necessary and sufficient condition of input-output stability and stability criterion of flexible manipulator arm are deduced, based on this, the effect of end position addition mass and activation joint rotary inertia on the motion stability of flexible manipulator arm is analysed.