Flexible Robotics

Mathieu Grossard, CEA LIST, Gif-sur-Yvette, FranceNicolas Chaillet, FEMTO-ST, Besançon, FranceStéphane Régnier, ISIR, UPMC, Paris, France

• Introduction  xiiiMathieu GROSSARD, Stéphane RÉGNIER and Nicolas CHAILLETChapter 1. Design of Integrated Flexible Structures for Micromanipulation  1Mathieu GROSSARD, Mehdi BOUKALLEL, Stéphane RÉGNIER and Nicolas CHAILLET1.1. Design and control problems for flexible structures in micromanipulation  21.2. Integrated design in micromechatronics 111.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures 251.4. Conclusion 311.5. Bibliography 32Chapter 2. Flexible Structures’ Representation and Notable Properties in Control  37Mathieu GROSSARD, Arnaud HUBERT, Stéphane RÉGNIER and Nicolas CHAILLET2.1. State-space representation of flexible structures 382.2. The concepts of modal controllability and observability 472.3. Reduction of models  522.4. Contribution of modal analysis criteria to topological optimization  562.5. Conclusion 682.6. Bibliography 69Chapter 3. Structured Energy Approach for the Modeling of Flexible Structures  73Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector RAMIREZ ESTAY3.1. Introduction 733.2. Finite-dimensional systems  753.3. Infinite-dimensional systems  953.4. Conclusion 1113.5. Bibliography 112Chapter 4. Open-Loop Control Approaches to Compliant Micromanipulators  115Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE4.1. Introduction 1154.2. Piezoelectric microactuators  1164.3. Thermal microactuators  1284.4. Conclusion 1424.5. Bibliography 142Chapter 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers 145Javier MARTIN AMEZAGA and Mathieu GROSSARD5.1. Robotic gripper systems  1465.2. Actuation architecture and elastic elements   1535.3. Structural flexibility 1665.4. Conclusion 1775.5. Bibliography 178Chapter 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation  181Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline COUTIER6.1. Introduction 1816.2. Human dexterous manipulation as a basis for robotic manipulation  1826.3. Technologies for tactile sensing  1886.4. A comparison of sensor solutions and sensing techniques 2136.5. The Nail sensor 2146.6. From the Nail sensor to tactile skin 2206.7. From tactile skin to artificial touch system 2256.8. Applications and signal analysis  2286.9. Summary and conclusion  2336.10. Bibliography 235Chapter 7. Flexures for High-Precision Manipulation Robots 243Reymond CLAVEL, Simon HENEIN and Murielle RICHARD7.1. High-precision industrial robots background   2437.2. Kinematic analysis of simple flexures 2487.3. Design method of parallel modular kinematics for flexures 2607.4. Example of the Legolas 5 robot design 2647.5. Bibliography 273Chapter 8. Modeling and Motion Control of Serial Robots with Flexible Joints  275Maria MAKAROV and Mathieu GROSSARD8.1. Introduction 2758.2. Modeling 2768.3. Identification 2848.4. Motion control 2958.5. Conclusion 3108.6. Bibliography 310Chapter 9. Dynamic Modeling of Deformable Manipulators 321Frédéric BOYER and Ayman BELKHIRI9.1. Introduction 3219.2. Newton–Euler model of an elastic body 3249.3. Kinematic model of a deformable manipulator 3379.4. Dynamic model of a deformable manipulator 3409.5. Example 3429.6. Conclusion 3469.7. Bibliography 346Chapter 10. Robust Control of Robotic Manipulators with Structural Flexibilities     349Houssem HALALCHI, Loïc CUVILLON, Guillaume MERCÈRE and Edouard LAROCHE10.1. Introduction 34910.2. LTI methodology 35010.3. Toward an LPV methodology  35910.4. Conclusion 37910.5. Bibliography 379List of Authors 383Index 385