Active control law development of flexible structures is still an open problem. It has been the object of many researches, mainly starting from the eighties. In spite of many works dedicated to the dynamic modeling of such structures, the obtaining of a realistic dynamic model is of fundamental importance for the control law development. In the present work it is introduced a new algorithm to determinate in a quite simple way, the dynamic differential equations of a one flexible link manipulator. It is still developed analytic transfer functions for this specific problem, which are important for the validation of the lumped mass approach model proposed in the form of an algorithm.
Flexible structures; flexible robots modelling; lumped mass modelling approach
