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This monograph is concerned with the development and implementation
of nonlinear mathematical techniques for feedback control and shape
design of robot manipulators whose links have considerable
structural flexibility. Several nonlinear control and observation
techniques are studied and implemented by simulations and
experiments in a laboratory setup. These techniques include
integral manifolds in singular perturbation theory, nonlinear
input-output decoupling, nonlinear observers and sliding
control.
The study of dynamic properties and control techniques for
flexible-link manipulators can also be a framework for designing
the mechanical shape and material of these systems such that
improved properties can be achieved in order to facilitate the
control problem. Therefore, structural shape optimization is
considered as a means of improving the dynamic behaviour of
flexible-link manipulators.
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