TABLE OF CONTENTS The object of this chapter is to give an overview of the current state of the art regarding the modeling and control of flexible robot manipulators. The modeling method suggested in section 7.2 is devoted to control. It particularly leads to reduced complexity models as compared to their finite element competitors, more adapted to analysis than to control. Within this framework, the approach presented leads to the most competitive algorithms in term of calculation time and enables an easy tuning of the model resolution. Section 7.3 presents the control methods of flexible structures for regulation and tracking objectives in the joint space and operational space.
In the 1980s many studies dealt with the dynamic modeling of flexible multi-body systems and their control.
As far as modeling is concerned, among the most advanced developments we quote those of Simo [SIM 86], [SIM 88], Cardona and G radin [CAR 88], Kim and Haug [KIM 88], Serna and Bayo [SER 89], Sharf and Damaren [SHA 92], Schwertassek et al. [SCH 99], etc. In the field of robotics, two types of systems justified these efforts. The first one concerns the production industry. These are the manufacturing robots for which there are efforts to increase their bandwidths in order to accelerate the work pace. In addition, progress made regarding the material and mechanical design fields make it possible now to lighten the structures considerably, so it is...
