Parallel Robots: Mechanics and Control / Edition 1

by Hamid D. Taghirad

Overview

Although many industrial applications have adopted parallel robots, few textbooks introduce their analysis in terms of dynamics and control. Filling the gap, this book combines the analysis of kinematics and dynamics with methods of designing controllers. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures. Coverage includes Jacobian analysis, three methods for dynamic analysis, and advanced topics in control. Throughout, case studies show how the techniques can be applied in practice.

Product Details

ISBN-13:	9781138077386
Publisher:	Taylor & Francis
Publication date:	03/29/2017
Pages:	533
Product dimensions:	7.00(w) x 10.00(h) x (d)

About the Author

Hamid D. Taghirad received his M.Sc. in mechanical engineering (mechatronics) in 1993 and his Ph.D. in electrical engineering (control–robotics) in 1997, both from McGill University, Montreal, Canada. He is currently a Professor and the Director of the Applied Robotics and AI Solutions (ARAS), K. N. Toosi University of Technology. Additionally, he has served as a Visiting Professor at McGill University, ETS, Concordia University, and most recently at the University of Alberta in Canada. As a senior member of IEEE, Hamid D. Taghirad contributes to the field of Robotics as an associate editor of IEEE Transactions on Medical Robotics and Bionics (IEEE – TMRB) and Frontiers in Robotics and AI – Biomedical Robotics. He is also part of the editorial board of the International Journal of Robotics: Theory and Applications. His research interests primarily revolve around robust and nonlinear control applied to robotics, with a focus on medical robotics, as well as the application of VR and AI technologies in medical applications. He boasts a substantial publication record, including seven books and over 300 papers in peer-reviewed international journals and conference proceedings.

Table of Contents

Part I: Preliminary Studies 1 Introduction. 2 Motion Representation. 3 Advanced Representations. Part II: Kinematics 4 Kinematic Analysis. 5 Jacobian Matrix and Singularity. 6 Jacobian Matrix: Mappings & Characteristics Part III: Dynamics 7 Dynamics Analysis: Newton-Euler Approach. 8 Dynamics Analysis: Euler-Lagrange Approach. 9 Dynamics Analysis: Virtual Work Approach. 10 Dynamic Simulation and Calibration. Part IV: Control 11 Linear Motion Control. 12 Nonlinear and Multivariable Control. 13 Force Control. 14 Impedance Control. Appendix A: Review on Linear Algebra. Appendix B: Review on Nonlinear Control.