Perturbation Techniques for Flexible Manipulators

A manipulator, or ''robot'', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va­ riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actua...