Dynamic system performance of a constrained rigid-flexible manipulator in contact with a circular surface is considered here. A dynamic model with zero tip deformation constraint is derived using extended Hamilton’s principle. An analytical approach for vibration of the flexible link using the assumed modes technique is presented. The effect the force exerted at the end-effector and the required joint torque is investigated through the solution of the inverse dynamics problem. Optimum system performance is suggested for the circular contact surfaces considered in this study using the minimum energy criteria for three joint motion profiles
