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.