Study of input-output stability rule of elastic motion of flexible manipulator arm

The necessary and sufficient condition of input-output stability of control system and its significance to the design and control application of flexible manipulator arm are described in the place, then the necessary and sufficient condition of input-output stability is simplified to make the criterion simple and easy. lt is pointed out in the end that the input-output stability criterion may be used to analyse the effect of end position addition mass and drive joint rotary inertia and mode rotary inertia on the input-output stability of control system of flexible manipulator arm.