1. Introduction
1.1. Dynamic Modeling of Rigid and Flexible Systems
1.2. Computational Efficiency
1.3. Summary
2. Dynamics of serial-chain system
2.1. Equations of motion
2.2. Geometric stiffness
2.3. Shape functions
2.4. Illustrations
2.4.1. Spinning cantilever beam
2.4.2. 2-link manipulator
2.4.3. 3-link manipulator
2.4.4. PUMA/Stanford Arm
2.5. Summary
3. Dynamics of closed-loop systems
3.1. Formulation
3.1.1. Forward dynamics
3.1.2. Inverse dynamics
3.2. Illustrations
3.2.1. 4-bar mechanism
3.2.2. 5-bar mechanism
3.2.3. 3RRR parallel manipulator
3.3. Forced simulation
3.4. Summary
4. Dynamics of spatial 4-bar mechanism
4.1. Formulation
4.2. Illustration
4.3. Summary
5. Computational efficiency and numerical stability
5.1. Criteria for numerical stability
5.2. Stability and efficiency for rigid robot
5.3. Stability and Efficiency for Rigid-Flexible Robots
5.4. Summary
6. Experimental Results
6.1. Damping in Dynamic Model
6.2. Damping Coefficients 6.2.1. Joint Damping
6.2.2. Structural Damping
6.3. An Illustration: A Single Flexible Link
6.4. Single Flexible-Link Arm
6.4.1. Calibration of the Strain-Gauge Circuit
6.4.2. Free-Fall
6.4.3. Forced Response 6.5. A Two Flexible-Link Robotic Arm
6.6. Summary
