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Parallel Robots: Mechanics and Control

Published: February 15, 2013 by CRC Press - 533 Pages
Hamid D. Taghirad
ISBN-10: 1466555769
ISBN-13: 978-1466555761
Catalog No. K15389

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

Introduces analysis and design tools required to create a parallel robot  
Combines coverage of kinematics with thorough analysis of dynamics and control  
Discusses cable-driven robots, a promising new generation of parallel structures
Covers advanced topics such as dynamics model verification, redundancy resolution, and adaptive and robust control  
Examines dynamics through three methods: Newton-Euler, the principle of virtual work, and Lagrange formulations  

   Pedagogical Features

Presents numerous case studies and examples  
Contains challenging end-of-chapter problems  
Includes more than 300 illustrations  
Offers MATLAB® code online  


  Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry.  
  Covers Kinematics, Dynamics, and Control in One Volume  
  The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail.  
  Analysis and Design Tools to Help You Create Parallel Robots  
  In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.  

Table of Contents:

  Chapter 1: Introduction
What Is a Robot?
Robot Components
Robot Degrees-of-Freedom
Robot Classification
The Aims and Scope of This Book
Chapter 2: Motion Representation
Spatial Motion Representation
Motion of a Rigid Body
Homogeneous Transformations
Chapter 3: Kinematics
Loop Closure Method
Kinematic Analysis of a Planar Manipulator
Kinematic Analysis of Shoulder Manipulator
Kinematic Analysis of Stewart–Gough Platform
Chapter 4: Jacobians: Velocities and Static Forces
Angular and Linear Velocities
Jacobian Matrices of a Parallel Manipulator
Velocity Loop Closure
Singularity Analysis of Parallel Manipulators
Jacobian Analysis of a Planar Manipulator
Jacobian Analysis of Shoulder Manipulator
Jacobian Analysis of the Stewart–Gough Platform
Static Forces in Parallel Manipulators
Stiffness Analysis of Parallel Manipulators
Chapter 5: Dynamics
Dynamics of Rigid Bodies: A Review
Newton–Euler Formulation
Virtual Work Formulation
Lagrange Formulation
Chapter 6: Motion Control
Controller Topology
Motion Control in Task Space
Robust and Adaptive Control
Motion Control in Joint Space
Summary of Motion Control Techniques
Redundancy Resolution
Motion Control of a Planar Manipulator
Motion Control of the Stewart–Gough Platform
Chapter 7: Force Control
Controller Topology
Stiffness Control
Direct Force Control
Impedance Control
Appendix A: Linear Algebra
Vectors and Matrices
Vector and Matrix Operations
Eigenvalues and Singular Values
Kronecker Product
Appendix B: Trajectory Planning
Point-to-Point Motion
Specified Path with Via Points
Appendix C: Nonlinear Control Review
Dynamical Systems
Stability Definitions
Lyapunov Stability
Krasovskii–Lasalle Theorem
 Detailed Table of Contents  
 First pages of the book  
 Chapter 3, Chapter 4, Chapter 5, Chapter 6, Chapter 7  
  Course Materials:  
   My Course Page  
  Book Pages  
   CRC Book page, Amazon Book page  
   Author Short Biography  
  Hamid D. Taghirad is currently a professor with the Faculty of Electrical and Computer Engineering, Department of Systems and Control, and the founder of the Advanced Robotics and Automated System (ARAS) at K.N. Toosi University of Technology, Tehran, Iran. He has been involved in numerous robotics industrial projects on the design and implementation of industrial robots, robotic cells, and currently on an industrial cable-driven parallel manipulator. He has also participated in joint international collaborations in the field of robotics. Dr. Taghirad was the founder and a member of the board of the Iranian Society of Mechatronics (ISM) and is currently a member of the board of the Iranian Robotics Society (IRS), editor in chief of Mechatronics Magazine, and a member of the editorial board of the International Journal of Robotics: Theory and Application. He also served as an organizing committee member of many international conferences, including the International Conference on Robotics and Mechatronics (ICRoM). His publications include five books and more than 190 papers in peer-reviewed international journals and conference proceedings.  

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K.N. Toosi University of Technology

Last Updated May 27, 2013