Theory of Robot Control pp 219-261 | Cite as

# Flexible links

## 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

Trajectory Tracking Flexible Manipulator Flexible Link Zero Dynamic Assumed Mode## Preview

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## References

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