Jen, C.W.; Johnson, D.A.; Gorez, R. - In: Mathematics and Computers in Simulation (MATCOM) 41 (1996) 5, pp. 539-558
The dynamic model of a robot arm composed of flexible beams and revolute joints is developed using a Rayleigh-Ritz based substructure synthesis technique and the linear theory of elastodynamics. Low-degree power functions in space variables of each substructure (beam) are adopted as shape...