This study deals with the two-link flexible manipulator dynamic motion. A two-link manipulator having two revolute joints is designed and constructed. Then the manipulator motion is controlled with two servo motors. The system equations for rigid body motion are derived using Lagrangian method and the flexible elastic motion is treated with a finite element model. When the system is drived, the motion induced manipulator tip vibration is not only calculated but also measured using a motion analyser and a strain gage. The measurements and the calculations are compared. It was obserbed that the manipulator motion is dominantly influenced by its low natural frequencies. The gravity effect on the motion is also examined.
