الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
The objective of this research is to develop the dynamic equations of the redundant manipulators with flexible links then solving the inverse dynamics problem. The effect of the redundancy resolution on the stability problem has been studied. Throughout the formulation of the dynamic equations, the 4x4 homogeneous transformation. matrices are used to describe the kinematic relation between links. The deformations of links due to the elastic properties of link material are considered. The finite element method is. used to descriptive the deformations. Based on the Equivalent Rigid Link System model,’ Lagrange’s equations are .used to derive the dynamic equations of the manipulators. For the solution of the inverse dynamics problem, the inverse kinematics and inverse kinetics has been worked out. The inverse kinematics is resolved at the acceleration level to consider the dynamic effect of redundancy resolution. An obstacles avoidance criteria, which is quadratic function of the joint variable is selected for the local optimization process so as to obtain the optimal configuration. The effect of the selected criteria on the joint torque is studied. A three links planar manipulator with one degree of freedom redundancy is used as an example to study the. performance of this scheme for three different straight line trajectories. Each case is implemented for rigid and flexible link manipulators. The results show no instability problem and satisfactory torque profiles.