УДК 517.91 Mirjana Filipovi EULER-BERNOULLI EQUATION BASED ON THE KNOWLEDGE OF THE CLASSICAL DYNAMICS This work gives us the unique and completely new access in the analysis of combined elastic system of robots that are in contact with dynamic environment, based on published, accessible papers. <...> The special attention is devoted to the dynamics and kinematics of movement of elastic link in the frame of robotics configuration in this paper. <...> The EulerBernoulli equation should be supplemented with all the forces that are participating in the formation of the elasticity moment of the considered mode. <...> We presented the analogue between the Euler-Bernoulli equation solutions which were defined by Daniel Bernoulli and the procedure of the „direct kinematics“ and „inverse kinematics“ solutions in the Robotics. <...> Based on results of simulation analyses we demonstrate that with this new proposed procedure of analysis of complex flexible robotic systems practicality it isn’t important how much robotic system is complex or flexible, because these are characteristics included in “kinematics” and dynamic model. <...> INTRODUCTION The feedback control was formed for the robot with flexible links (two-beam, two-joint systems) with distributed flexibility in [1], and robots with flexible links were also dealt with in [2]. <...> Furthermore, a nonlinear control strategy for tip position trajectory tracking of a class of structurally flexible multi-link manipulators was developed in paper [3]. <...> In paper [8] the authors extend the integral manifold approach for the control of flexible joint robot manipulators from the known parameter case to the adaptive case. <...> Based on the same principle, the elasticity of gears is introduced in the mathematical model in this paper, as well in papers [17]-[21]. 18 Проблемы машиностроения и автоматизации, № 1 – 2009 However, when the introduction of link flexibility in the mathematical model is concerned, it is necessary to point out some essential problems in this domain. <...> LMA (“Lumped-mass approach”) is a method which defines motion equation at any point of considered mechanism. <...> If any link of the mechanism is elastic then we can also define motion equation at any point of presented link. <...> Using the EBA we obtain the equations of flexible line model of each mode and by setting boundary conditions we obtain model equations of motion at the point of the tip (or any other point <...>