Szukana fraza: [Abstract = "Lagrange's finite element approach is used to formulate the dynamic model of a flexible manipulator system in the three\-dimensional space. All manipulator links are considered as slim beams connected in one d.o.f. frictionless revolute joints. Beam\-type finite elements, with interpolating polynomials of degree three and six generalized perturbation coordinates per finite element nodal point, are used for description of the link small displacement field."]

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