Flexible structures' representation and notable properties in control.

Mathieu Grossard (1) , Arnaud Hubert (2) , Stéphane Régnier (3) , Nicolas Chaillet (2)

1 DIASI (CEA, LIST) - Département Intelligence Ambiante et Systèmes Interactifs
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
3 ISIR - Institut des Systèmes Intelligents et de Robotique

In this chapter, we will examine a discrete representation of dynamic input/output behavior in flexible structures in relation to their control. The dynamic model's expression, a product of a discretized formulation of mechanical equations for vibratory systems, will be explored in the form of a state-space representation. The dual modal controllability and observability notations, which play and important role in the control authority of significant vibratory modes, will be introduced. In the case of flexible structures, modal Controllability and observability Gramians are characterized by relatively simple analytical expressions that render them an important factor in the design of compliant mechanisms. We will examine a range of properties related to model reduction and demonstrate the influence of actuator and sensor collocation on the control performance of flexible structures. Using a number of examples of robotic manipulators, we will illustrate how these properties can be used to optimally design prehension devices in micromanipulation.

Domaines: Micro et nanotechnologies/Microélectronique

Mathieu Grossard, Arnaud Hubert, Stéphane Régnier, Nicolas Chaillet. Flexible structures' representation and notable properties in control.. Grossard, Mathieu and Chaillet, Nicolas and Régnier, Stéphane. Flexible Robotics : Application to Multiscale Manipulations., John Wiley & Sons, Inc., pp.37-72, 2013, 978-1-8421-520-7. ⟨hal-00871034⟩