Perturbation Techniques for Flexible Manipulators

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The book delves into the intricacies of robotic manipulators, detailing their structure, which comprises links and joints that form a spatial mechanism. It highlights the importance of reprogrammability and the integral role of controllers in defining these robotic arms. The text also addresses the complexities of modeling manipulator dynamics and the advancements in motor technology that enhance speed and load capacity. However, it notes the limitations imposed by rigidity, exemplified by the disparity between a robot's weight and its payload capacity.