Flexible Robotics (PDF)

The objective of this book is to provide those interested in the
field of flexible robotics with an overview of several scientific
and technological advances in the practical field of robotic
manipulation. The different chapters examine various stages that
involve a number of robotic devices, particularly those designed
for manipulation tasks characterized by mechanical flexibility.
Chapter 1 deals with the general context surrounding the design of
functionally integrated microgripping systems. Chapter 2 focuses on
the dual notations of modal commandability and observability, which
play a significant role in the control authority of vibratory modes
that are significant for control issues. Chapter 3 presents
different modeling tools that allow the simultaneous use of energy
and system structuring notations. Chapter 4 discusses two
sensorless methods that could be used for manipulation in confined
or congested environments. Chapter 5 analyzes several appropriate
approaches for responding to the specific needs required by
versatile prehension tasks and dexterous manipulation. After a
classification of compliant tactile sensors focusing on dexterous
manipulation, Chapter 6 discusses the development of a complying
triaxial force sensor based on piezoresistive technology. Chapter 7
deals with the constraints imposed by submicrometric precision in
robotic manipulation. Chapter 8 presents the essential stages of
the modeling, identification and analysis of control laws in the
context of serial manipulator robots with flexible articulations.
Chapter 9 provides an overview of models for deformable body
manipulators. Finally, Chapter 10 presents a set of contributions
that have been made with regard to the development of methodologies
for identification and control of flexible manipulators based on
experimental data.

Contents

1. Design of Integrated Flexible Structures for
Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane
Régnier and Nicolas Chaillet.

2. Flexible Structures' Representation and Notable Properties
in Control, Mathieu Grossard, Arnaud Hubert, Stéphane
Régnier and Nicolas Chaillet.

3. Structured Energy Approach for the Modeling of Flexible
Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and
Hector 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 Dexterous
Grippers, Javier Martin Amezaga and Mathieu Grossard.

6. Flexible Tactile Sensors for Multidigital Dexterous In-hand
Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and
Caroline Coutier.

7. Flexures for High-Precision Manipulation Robots, Reymond Clavel,
Simon Henein and Murielle Richard.

8. Modeling and Motion Control of Serial Robots with Flexible
Joints, Maria Makarov and Mathieu Grossard.

9. Dynamic Modeling of Deformable Manipulators, Frédéric
Boyer and Ayman Belkhiri.

10. Robust Control of Robotic Manipulators with Structural
Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume
Mercère 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.