000			a
999			_c31958 _d31958
008			230419b xxu||||| |||| 00| 0 eng d
020			_a9781138077386
082			_a629.892 _bTAG
100			_aTaghirad, Hamid D.
245			_aParallel Robots : Mechanics and Control
260			_bCRC Press, _a2013 _cBoca Raton :
300			_axiii, 519 p. ; _bill. _c26 cm
365			_b69.99 _cGBP _d104.20
504			_aIncludes bibliographical references and index.
520			_aIntroduction 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.
650			_aParallel robots
650			_aControl systems
650			_aDynamics
650			_aAcceleration analysis
650			_aAngular velocity
650			_aCartesian robot
650			_a Closed-loop formulation
650			_aDelto robot
650			_a Dynamic formulation
650			_aForward kinematic
650			_a Generalized force
650			_aImpedance control
650			_aInverse kinematic
650			_a Jacobian analysis
650			_a Lyapunov stability
650			_aMoving platform dynamics
650			_aParallel axis theorem
650			_a Rigid body
650			_aRotation matrix
650			_aScrew axis
650			_aStewart-Gough platform
650			_aTrajectory planning
650			_aIndustrial automation
942			_2ddc _cBK