Flexible Robotics

The objective of this book is to provide those interested in thefield of flexible robotics with an overview of several scientificand technological advances in the practical field of roboticmanipulation. The different chapters examine various stages thatinvolve a number of robotic devices, particularly those designedfor manipulation tasks characterized by mechanical flexibility.Chapter 1 deals with the general context surrounding the design offunctionally integrated microgripping systems. Chapter 2 focuses onthe dual notations of modal commandability and observability, whichplay a significant role in the control authority of vibratory modesthat are significant for control issues. Chapter 3 presentsdifferent modeling tools that allow the simultaneous use of energyand system structuring notations. Chapter 4 discusses twosensorless methods that could be used for manipulation in confinedor congested environments. Chapter 5 analyzes several appropriateapproaches for responding to the specific needs required byversatile prehension tasks and dexterous manipulation. After aclassification of compliant tactile sensors focusing on dexterousmanipulation, Chapter 6 discusses the development of a complyingtriaxial force sensor based on piezoresistive technology. Chapter 7deals with the constraints imposed by submicrometric precision inrobotic manipulation. Chapter 8 presents the essential stages ofthe modeling, identification and analysis of control laws in thecontext of serial manipulator robots with flexible articulations.Chapter 9 provides an overview of models for deformable bodymanipulators. Finally, Chapter 10 presents a set of contributionsthat have been made with regard to the development of methodologiesfor identification and control of flexible manipulators based onexperimental data. Contents 1. Design of Integrated Flexible Structures forMicromanipulation, Mathieu Grossard, Mehdi Boukallel, StéphaneRégnier and Nicolas Chaillet. 2. Flexible Structures' Representation and Notable Propertiesin Control, Mathieu Grossard, Arnaud Hubert, StéphaneRégnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of FlexibleStructures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec andHector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators,Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and DexterousGrippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-handManipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin andCaroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel,Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with FlexibleJoints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, FrédéricBoyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with StructuralFlexibilities, Houssem Halalchi, Loïc Cuvillon, GuillaumeMercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.