Table 1: Parameters of the flexible manipulator test.

ParameterSymbolUnitsLink 1Link 2

Length 𝐿 𝑖 m0.50.54
Thickness 𝑖 mm0.610.6
Width 𝑏 𝑖 cm5.15.1
Mass 𝑚 𝑖 kg0.1210.129
Stiffness 𝐸 𝑖 𝐼 𝑖 N m20.2030.193
Tip load mass 𝑀 𝑖 kg0.610.224
Tip load inertia 𝐽 𝑖 kg m2 1 . 5 1 0 3 1 . 3 1 0 4