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Flexible Robots

Encyclopedia of Systems and Control

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Abstract

Mechanical flexibility in robot manipulators is due to compliance at the joints and/or distributed deflection of the links. Dynamic models of the two classes of robots with flexible joints or flexible links are presented, together with control laws addressing the motion tasks of regulation to constant equilibrium states and of asymptotic tracking of output trajectories. Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties. In robots with flexible links, basic differences arise when controlling the motion at the joint level or at the tip level.

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Author information

Authors and Affiliations

  1. Sapienza Università di Roma, Roma, Italy

    Alessandro De Luca

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  1. Alessandro De Luca
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Correspondence to Alessandro De Luca .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, MN, USA

    Tariq Samad

Section Editor information

  1. Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Luca, A.D. (2020). Flexible Robots. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_176-2

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-2

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5102-9

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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Chapter history

  1. Latest

    Flexible Robots
    Published:
    31 January 2020

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-3

  2. Flexible Robots
    Published:
    29 November 2019

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-2

  3. Original

    Flexible Robots
    Published:
    02 April 2014

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-1

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