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On the Zeros of the Transfer Function of Flexible Link Manipulators and Their Non-Minimum Phase Behaviour

In this article, a study of the zeros of the transfer function, between the base torque and the end-effector displacement, for flexible link manipulators is performed. The analysis is carried out on a single flexible link manipulator with the initial part of the link being rigid. This type of manipulator is referred to as a slewing single rigid—flexible link manipulator (SRFLM). A new method for finding the zeros of the transfer function of an SRFLM without using the corresponding transfer function is introduced. The changes of the locations of the zeros of an SRFLM owing to the changes in all the physical parameters (PPs) are investigated. It is shown that there are PPs where the increase in their values moves the zeros further from the imaginary axis; while by increasing the values of some other PPs the zeros become closer to the imaginary axis. Finally, there are PPs where the locations of the zeros are independent of their values. These findings will be beneficial in the design as well as control of flexible link manipulators and are among the main contributions of this work.