Presents the development of a CAPP framework based on a multi-agent architecture. It generates nonlinear process plans (NLPP) and will allow interactivity with the process planners. The multi-agent architecture is discussed and detailed.

In the case of flexible robots we cannot apply the methods used in the case of rigid robots for the determination of exciting trajectories. Indeed the elastic degrees of freedom are not controllable: they are linked to the actuated degrees of freedom by a system of differential equations. Moreover it appears that some of the base parameters are not identifiable whatever the trajectory of identification is. This paper presents a heuristic method to find exciting trajectories in the case of a one flexible link planar robot and we propose a new method to determine those of the minimal parameters which are not identifiable. Some results of identification are presented and discussed.