Robotics II Course
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Course Description
Course Name:  Parallel Robotics
Course No.  EE - 43122
Professor:  Dr. Hamid D. Taghirad
Semester:  Spring 93
Room and Time: Mon. Wed. 7:30-9:00 Room 201
Office Hours: Mon. 9:15-10:15 Room 321

Course Contents:

In this course the kinematics, dynamics analysis and control of parallel manipulators are studied in detail. The main emphasis of the course is the mechanics of complex structured robots such as parallel manipulators. Comprehensive kinematics and dynamic analysis of parallel manipulators is presented, and the control topologies for these robots are described. In a comprehensive design project as a series of exercises in the assignments, the students learn how to analyze the kinematics and dynamics of a planar parallel manipulator. Furthermore, A research project is conducted by the student as a term project

The tentative course contents are as following.
Time:      Teaching Contents
Week 1

Introduction: Robotics at a glance, kinematic chains, Grubler criterion, loop mobility criterion, robot classifications,

Week 2

Introduction: Description of position and orientation, screw-axis representation, Euler angle representations.

Week 3

Kinematics: Kinematics analysis of parallel manipulators, vector loop equations, 3RRR manipulator.

Week 4

Kinematics: Kinematics analysis of spatial orientation manipulator and Stewart Gough manipulator.

Week 5

Jacobian:  Angular and linear velocity, Jacobian matrices, Singularity conditions, conventional Jacobians, 3RRR manipulator, spatial orientation manipulator and Stewart Gough manipulator, Screw-based Jacobians.

Week 6

Stiffness: Force-moment relations, principle of virtual work, 3RRR manipulator, stiffness analysis of parallel manipulators, stiffness analysis of Stewart-Gough platform.

Week 7

Midterm Exam

Week 8

Dynamics: Dynamics analysis of parallel manipulators, Newton-Euler formulation, dynamic analysis of Stewart-Gough platform.

Week 9

Dynamics:  dynamics analysis of parallel manipulators, Principle of virtual work,

Week 10

Dynamics:  Lagrange formulation, dynamic analysis of CKCM Robot, properties of manipulator dynamics.

Week 11

Control: Introduction to control of parallel manipulators, position control topologies, Nonlinear Control Background.

Week 12

Control: Position control: inverse dynamics control.

Week 13

Control: Robust inverse dynamics control, Force control topologies stiffness control.

Week 14

Control: Force control topologies: Direct force control, impedance control.

Week 15

Hybrid Control:  Force-position control, matrix inclusion method, hybrid force-motion control topology





Hamid D. Taghirad, “Parallel Robots: Mechanics and Control”, To appear, CRC Press, 2012.  


Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York, Wiley, 1999.  


M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, New York, Wiley, 2006.  

L. Sciavicco, B. Siciliano, “Modelling and Control of Robot Manipulators” , Springer Verlag, 2nd ed. 2001.  


J.P. Merlet, “Parallel robots”, Boston, MA : Kluwer Academic Publishers, 2000.  


Carl Crane, “Screw theory for spatial robot manipulators”, Cambridge, Oxford, 2005.  


Selected papers.  

A number of hard copies of the reference book are purchased for interested people who have difficulty to use the online purchase system. Please come to my office to get a copy if interested.


Assignments (pdf) Projects (pdf) Exams (pdf)
Assignment 1 6/12/93 Solution Parallel Robots Programs:   Final
Assignment 2   Solution intlab   Midterm
Assignment 3   Solution Project 1  20/01/93  
Assignment 4   Solution Project 2  
Assignment 5   Solution Project 3 9/4/93  
Assignment 6   Solution    
          Final Scores

Course Documents

First Lecture Presentation file (pdf)
Spong Book: Chapter 8

Pictures and Video Clips



Serial Manipulators

 Adept SCARA, Articulated, Fanuc, Fanuc articulated, Kawasaki, Kuka, Panasonic, Staubli

Parallel Manipulators

 CAE Flight simulator, SGP, SGP schematic
Humanoids  SARCOS
Singularity Benefits! Payload maximization for a Puma 762 robot - Movie(Real) - Movie (Mpeg)

Video clips

Applications: Assembly line, Assembly HDD, Painting, Packaging, Pick and Place, Surgery, Spot welding, Seam Welding
Parallel Robots SGP in motion, Hexa Plane, Hexa Peg-in-hole, 6DOF SB, Agile eye,
Robotic Hands Rolling Can, Light Bulb, Twiddles,
Humanoids, Tetris,

Developed Programs

ARAS ROBOSIM: A graphical simulator developed to derive the dynamical equation of the system and to show the robot motion graphically in 3D.


Robotics Toolbox of Matlab: Mathworks Matlab: User guide (pdf)
OpenSim a 3D simulator for autonomous robots
A Collection of Modelling and Simulation Resources on the Internet

Selected Papers

1 H.D. Taghirad and Y.B. Bedoustani, An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven Redundant Parallel Manipulators, IEEE Transactions on Robotics, Vol 27. No. 6, pp 1137-1143, Dec. 2011.
2 Mohammad M. Aref, Hamid D. Taghirad and Sasan Barissi, Optimal Design of Dexterous Cable Driven Parallel Manipulators, International Journal of Robotics: Theory and Applications, 2(4) 43-51, Dec (2009).
3 Mehdi Tale Masouleh, Mohammad Hossein Saadatzi and Hamid D. Taghirad, Workspace Analysis of 5-PRUR Parallel Mechanisms (3T2R), Elsevier Journal of Robotics and Computer Integrated Manufacturing, 28(1) 437–448, Jan 2012.
4 M. A. Khosravi and H.D. Taghirad, Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables, Transactions of CSME, Vol. 35, No. 4, pp 543- 577, Dec 2011.
5 Y. B. Bedoustani, P. Bigras, H. D. Taghirad and I. Bonev, Lagrangian Dynamics of Cable-Driven Parallel Manipulators: A Variable Mass Formulation, Transactions of CSME, Vol. 35, No. 4, pp 529-542, Dec 2011.
6 M.H. Saadatzi, M. T. Masouleh, Hamid D. Taghirad, C. Gosselin and P. Cardou, Geometric Analysis of the Kinematic Sensitivity of Planar Parallel Mechanisms, Transactions of CSME, Vol. 35, No. 4, pp 477- 490, Dec 2011.
7 Mehdi Tale Masouleh · Clément Gosselin · Mohammad Hossein Saadatzi · Xianwen Kong · Hamid D. Taghirad, Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms, Meccanica, Online First™, 15 December 2010.
8 H. Taghirad and M. Nahon, Dynamic Analysis of A Macro-Micro Redundantly Actuated Parallel Manipulator in Advanced Robotics, Vol. 22 No. 3, pp  949–981, Sept. 2008
9 H. Taghirad and M. Nahon, Kinematic Analysis of A Macro-Micro Redundantly Actuated Parallel Manipulator, Advanced Robotics, Vol. 22,  No. 2, pp 657–687, July 2008.
10 H. Taghirad and M. Nahon, Dynamic Analysis of A Redundantly Actuated Parallel Manipulator: A Virtual Work Approach, In the proceedings of the15th Int. Iranian Conference on Electrical Engineering, pp54-60, May 2007, Tehran.
11 Nguyen, C.C., Pooran, F.J., Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems. Source: Robotics and Autonomous Systems, v 5, n 4, Dec. 1989, p 377-94.
12 Dasgupta, N., T.S. Mruthyunjaya, A Newton-Euler formulation for the inverse dynamics of the stewart platform manipulator, Source: Mechanism and Machine Theory, v 33, No. 8, 1998, p 1135-52
13 G. Lebret, K. Liu, F. L. Lewis, Dynamic Analysis and Control of a Stewart Platform Manipulator, Journal of Robotic Systems 10(5), 629-655 (1993).
14 Se-Han Lee; Jae-Bok Song; Woo-Chun Choi; Daehie Hong, Position control of a Stewart platform using inverse dynamics control with approximate dynamics   
16 Chiacchio, P.; Pierrot, F.; Sciavicco, L.; Siciliano, B.,

Related Links
Robotics Related Sites of Interest
UC Berkeley Robotic site
USC Robotics Labratory
Robotics Internet Resources Page
MIT AI lab:
Mobile Robotics Group, Robot Hands, Cognitive Robotics, Leg Laboratory.
Carnegie Melon Robotics Institue
McGIll Center for Intelligent Machines
Robotics Industries Accociation
University of southern california Robotics center
AIRVL University of Minnesota
Milind Tambe's Hompage - Multi-Agents, Teamwork, Agent modeling, Plan recognition, Intelligent Agents.
Aerospace Robotics Laboratory - Stanford University
Robotics movies
Robotics FAQ
True Force
Robotics Books
Robot Competitions links

  Description  Contents  References  Assignments  Documents  Clips   Software  Programs  Papers  Links

Copyright © Dr. Hamid D. Taghirad
K.N. Toosi University of Technology
Last Updated Saturday February 21, 2015