In this paper,a discretely actuated snake like manipulator is taken as subject investigated,the representation of workspace for revolute discretely actuated manipulator is developed.

This paper put forward the structure and control of a snake like manipulator, emphatically introducing the structure and principle of transmission joint mechanism and drive switching mechanism of the manipulator, also describing the manipulator s control system.

Variable structure control of flexible manipulator based on distributed parameter model;

According to the need of engineering practice,establishes the multi-rigid-body discrete model of flexible manipulators by finite segment method.

To track expectation locus accurately as the load and link length of two-link flexible manipulator varies, the control system was decomposed into two subsystems, slowly-changing subsystem and fast-changing subsystem based on the singular perturbation model.

In this paper, we introduced recent developments in the control of space flexible manipulators of the robot in the world.

A flexible arm with some piezoelectric sensor and actuators was investigated to find a way to control the vibration of flexible structures.

A kind of new typed flexible arm and its positioning mec han ism suitable for robot employed in outer surface inspection of pressure containi ng pipe in boiler of steam power plant were introduced.

And finally the method of driving and controlling theflexible arm is discussed.

Functionalization of Glass Plate Surfaces by Pyrene Via a Long Flexible Spacer and Their Sensing Properties;

Modeling and reverse-dynamical study on flexible arm-frames of concrete pump trucks