TY - BOOK AU - Grossard,Mathieu AU - Chaillet,Nicolas AU - Régnier,Stéphane TI - Flexible robotics: applications to multiscale manipulations SN - 9781848215207 AV - TJ211.35 .F54 2013 U1 - 629.892 23 PY - 2013/// CY - London, UK, Hoboken, NJ PB - ISTE Ltd, John Wiley & Sons, Inc. KW - Robotics KW - Robots KW - Control systems KW - Manipulators (Mechanism) KW - Electronic books N1 - ABOUT THE AUTHOR Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France Nicolas Chaillet, FEMTO-ST, Besançon, France Stéphane Régnier, ISIR, UPMC, Paris, France; Includes bibliographical references and index; Introduction xiii Mathieu GROSSARD, Stéphane RÉGNIER and Nicolas CHAILLET Chapter 1. Design of Integrated Flexible Structures for Micromanipulation 1 Mathieu GROSSARD, Mehdi BOUKALLEL, Stéphane RÉGNIER and Nicolas CHAILLET 1.1. Design and control problems for flexible structures in micromanipulation 2 1.2. Integrated design in micromechatronics 11 1.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures 25 1.4. Conclusion 31 1.5. Bibliography 32 Chapter 2. Flexible Structures’ Representation and Notable Properties in Control 37 Mathieu GROSSARD, Arnaud HUBERT, Stéphane RÉGNIER and Nicolas CHAILLET 2.1. State-space representation of flexible structures 38 2.2. The concepts of modal controllability and observability 47 2.3. Reduction of models 52 2.4. Contribution of modal analysis criteria to topological optimization 56 2.5. Conclusion 68 2.6. Bibliography 69 Chapter 3. Structured Energy Approach for the Modeling of Flexible Structures 73 Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector RAMIREZ ESTAY 3.1. Introduction 73 3.2. Finite-dimensional systems 75 3.3. Infinite-dimensional systems 95 3.4. Conclusion 111 3.5. Bibliography 112 Chapter 4. Open-Loop Control Approaches to Compliant Micromanipulators 115 Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE 4.1. Introduction 115 4.2. Piezoelectric microactuators 116 4.3. Thermal microactuators 128 4.4. Conclusion 142 4.5. Bibliography 142 Chapter 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers 145 Javier MARTIN AMEZAGA and Mathieu GROSSARD 5.1. Robotic gripper systems 146 5.2. Actuation architecture and elastic elements 153 5.3. Structural flexibility 166 5.4. Conclusion 177 5.5. Bibliography 178 Chapter 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation 181 Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline COUTIER 6.1. Introduction 181 6.2. Human dexterous manipulation as a basis for robotic manipulation 182 6.3. Technologies for tactile sensing 188 6.4. A comparison of sensor solutions and sensing techniques 213 6.5. The Nail sensor 214 6.6. From the Nail sensor to tactile skin 220 6.7. From tactile skin to artificial touch system 225 6.8. Applications and signal analysis 228 6.9. Summary and conclusion 233 6.10. Bibliography 235 Chapter 7. Flexures for High-Precision Manipulation Robots 243 Reymond CLAVEL, Simon HENEIN and Murielle RICHARD 7.1. High-precision industrial robots background 243 7.2. Kinematic analysis of simple flexures 248 7.3. Design method of parallel modular kinematics for flexures 260 7.4. Example of the Legolas 5 robot design 264 7.5. Bibliography 273 Chapter 8. Modeling and Motion Control of Serial Robots with Flexible Joints 275 Maria MAKAROV and Mathieu GROSSARD 8.1. Introduction 275 8.2. Modeling 276 8.3. Identification 284 8.4. Motion control 295 8.5. Conclusion 310 8.6. Bibliography 310 Chapter 9. Dynamic Modeling of Deformable Manipulators 321 Frédéric BOYER and Ayman BELKHIRI 9.1. Introduction 321 9.2. Newton–Euler model of an elastic body 324 9.3. Kinematic model of a deformable manipulator 337 9.4. Dynamic model of a deformable manipulator 340 9.5. Example 342 9.6. Conclusion 346 9.7. Bibliography 346 Chapter 10. Robust Control of Robotic Manipulators with Structural Flexibilities 349 Houssem HALALCHI, Loïc CUVILLON, Guillaume MERCÈRE and Edouard LAROCHE 10.1. Introduction 349 10.2. LTI methodology 350 10.3. Toward an LPV methodology 359 10.4. Conclusion 379 10.5. Bibliography 379 List of Authors 383 Index 385; 600-699; 629 N2 - 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 UR - https://onlinelibrary.wiley.com/doi/book/10.1002/9781118572016 ER -