This article presents an efficient recursive computation of the in verse dynamics of flexible manipulators. The algorithm is equiva lent to the nonlinear computed torque law offlexible manipulators. The computation method is based on the generalized Newton-Euler model of flexible manipulators and can be considered as a gener alization of the computed torque control algorithm of rigid robots proposed by Luh, Walker, and Paul for executing joint trajectories. The given algorithm is programmed using Mathematica to get au tomatically an efficient customized symbolic model with a reduced number of operations.
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