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