Flexible links

  • Carlos Canudas de Wit
  • Bruno Siciliano
  • Georges Bastin
Part of the Communications and Control Engineering book series (CCE)

Abstract

This chapter is devoted to modelling and control of robot manipulators with flexible links. This class of robots includes lightweight manipulators and/or large articulated structures that are encountered in a variety of conventional and nonconventional settings. From the point of view of applications, we can think about very long arms needed for accessing hostile environments (nuclear sites, underground waste deposits, deep sea, space, etc.) or automated crane devices for building construction. The ultimate challenge is the design of mechanical arms made of light materials that are suitable for typical industrial manipulation tasks, such as pick-and-place, assembly, or surface finishing. Lightweight structures are expected to improve performance of robots with typically low payload-to-arm weight ratio. As opposed to slow and bulky motion of conventional industrial manipulators, such robotic designs are expected to achieve fast and dexterous motion.

Keywords

Manifold Torque Posite Lution Tral 

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Copyright information

© Springer-Verlag London Limited 1990

Authors and Affiliations

  • Carlos Canudas de Wit
    • 1
  • Bruno Siciliano
    • 2
  • Georges Bastin
    • 3
  1. 1.Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble Rue de la Houille BlancheDomaine UniversitaireSaint-Martin-d’HèresFrance
  2. 2.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly
  3. 3.Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique AppliquéeUniversité Catholique de LouvainLouvain-la-NeuveBelgium

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