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Both Natural Coordinate Formulation describing rigid bodies and Absolute Nodal Coordinate Formulation describing flexible bodies are used to model a flexible manipulator with flexible joint and flexible link. The torsional stiffness of flexible joint is tested using a specialized stiffness test equipment, and then the nonlinear torsional stiffness is determined by fitting the experimental data. A new trajectory planning function called the cosine-based function is proposed to design the joint trajectory, which is smoother than the fifth-polynomial and cycloidal motion functions. Finally, a one-link manipulator with flexible joint and flexible link is used to compare the performance of the three trajectory planning functions. Results show that residual vibration can be remarkably reduced by the proposed cosine-based function, which exhibits a significantly better performance than the fifth-polynomial and cycloidal motion functions

Research on Flexible Joint Stiffness Test and Trajectory Planning of Space Manipulator