Study on Inverse Dynamics and Driving Laws of
Flexible Robotics
Yu Qing   Hong Jiazhen
(Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai, 200030)

Abstract: This paper studies the inverse dynamics and driving laws of flexible robotics. The equivalent formulation of inverse dynamics is established for open and closed loop flexible multibody systems based on single recursive modeling method. A space robotics is simulated to exhibit the influence of flexibility to the driving  torques and to its motion.
Keywords: flexible multibody systems, robotics, inverse dynamics, driving laws.