الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
In flexible robot manipulators, the payload capacity is an important parameter in denning the proper manipulator to perform a specific task. This thesis presents a technique to investigate the effects of the tip mass as well as its inertia on the characteristics of the single link flexible manipulators. A mathematical model for the inverse dynamics for multi-link flexible manipulators using the Virtual Link Coordinate system is presented. This mathematical model supported by the stability analysis of Liapunov’s second method is utilized to obtain the flexible hub torque. The solution for the inverse dynamics equations is carried out using the assumed modes method. A parametric study based on the tip to beam mass ratio ( TBMR ) and the hub to beam inertia ratio ( HBIR ) to further study the effect of the tip mass in the boundary conditions, the flexible hub torque and the selection of suitable HBIR for better design the flexible robot manipulator actuators. The previous analysis is carried out in the open loop to check the sensitivity of the inverse dynamics model for parameter variations. To ensure the validity of the proposed technique, This technique is applied again but for tangent coordinate system and the same results is achieved. The effect of the tip mass and its inertia on the system characteristics and the flexible , hub torque is also presented. A PD ( Proportional Derivative ) controller is designed to achieve better tracking performance. The effects of the variation of the tip mass with time on the robustness properties of the control performance is also investigated for the tangent coordinate system. Three control methodologies is presented to achieve better tracking performance even if the tip mass is being changed with time during the task. It is concluded that feedforward torque with tip position feedback is a successful solution to overcome the nonminimum phase nature of the flexible robot arm. Also the use of Liapunov’s second method as a condition for the stability analysis proves to be efficient in this situation. It gives the flexible hub torque in a straight forward manner.