Stability Analysis of Elastic Vibration of Flexible Manipulator Arm Based on Routh Criterion

dynamic model of flexible manipulator arm having end position addition mass is deduced in the first place in this paper , then the state space expression and transfer function using drive moment as input and using elastic vibration of end position as output of flexible manipulator arm are obtained . the necessary and sufficient condition assuring stability of flexible manipulator arm system is obtained using Routh criterion , and the stability criterion of the elastic motion of end position is deduced . the influence of end position addition mass and drive joint rotary inertia on the elastic motion stability of end position of manipulator arm is analyzed based on the stability criterion .