6. Conclusion

The principles of robot manipulator modeling outlined in this article are used in the control cabinets of modern industrial robots, including effort and dynamic control. The models are also automatically generated by a large number of computer-aided design and manufacturing (CAD/CAM) systems used to simulate the behavior of complex mechanisms or to program industrial robots "off-line". However, the deformations of the bodies making up the mechanisms have been neglected here, and more complicated models would be needed to include them. Control laws for "soft" robots would also be more complicated, as they would have to control deformations that constitute so many additional degrees of freedom. At present, such manipulators are not used in industry, but as teleoperated arms in space shuttles, for example. However, we cannot rule out the development of new structures, as is certainly the case...