Parallel Robots : Mechanics and Control
- 2013 CRC Press, Boca Raton :
- xiii, 519 p. ; ill. 26 cm
Includes bibliographical references and index.
Introduction What Is a Robot? Robot ComponentsRobot Degrees-of-FreedomRobot ClassificationThe Aims and Scope of This BookMotion RepresentationSpatial Motion RepresentationMotion of a Rigid BodyHomogeneous TransformationsProblemsKinematicsIntroductionLoop Closure MethodKinematic Analysis of a Planar ManipulatorKinematic Analysis of Shoulder ManipulatorKinematic Analysis of Stewart-Gough PlatformProblemsJacobians: Velocities and Static ForcesIntroductionAngular and Linear VelocitiesJacobian Matrices of a Parallel ManipulatorVelocity Loop ClosureSingularity Analysis of Parallel ManipulatorsJacobian Analysis of a Planar ManipulatorJacobian Analysis of Shoulder ManipulatorJacobian Analysis of the Stewart-Gough PlatformStatic Forces in Parallel ManipulatorsStiffness Analysis of Parallel ManipulatorsProblemsDynamicsIntroductionDynamics of Rigid Bodies: A ReviewNewton-Euler FormulationVirtual Work FormulationLagrange FormulationProblemsMotion ControlIntroductionController TopologyMotion Control in Task SpaceRobust and Adaptive ControlMotion Control in Joint SpaceSummary of Motion Control TechniquesRedundancy ResolutionMotion Control of a Planar ManipulatorMotion Control of the Stewart-Gough PlatformProblemsForce ControlIntroductionController TopologyStiffness ControlDirect Force ControlImpedance ControlProblemsAppendix: Linear AlgebraVectors and MatricesVector and Matrix OperationsEigenvalues and Singular ValuesPseudo-InverseKronecker ProductAppendix: Trajectory PlanningPoint-to-Point MotionSpecified Path with Via PointsAppendix: Nonlinear Control ReviewDynamical SystemsStability DefinitionsLyapunov StabilityKrasovskii-Lasalle TheoremReferencesIndex.
9781138077386
Parallel robots Control systems Dynamics Acceleration analysis Angular velocity Cartesian robot Closed-loop formulation Delto robot Dynamic formulation Forward kinematic Generalized force Impedance control Inverse kinematic Jacobian analysis Lyapunov stability Moving platform dynamics Parallel axis theorem Rigid body Rotation matrix Screw axis Stewart-Gough platform Trajectory planning Industrial automation