Dynamic simulation of task constrained of a rigid-flexible manipulator
  A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle &#945; between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle &#945; are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates. 
Atef A. Ata & Habib Johar