Book description
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.
Table of contents
- Cover
- Title Page
- Copyright
- Contents
- Preface
- 1. Introduction
- 2. Motion Representation
- 3. Kinematics
- 4. Jacobians: Velocities and Static Forces
- 5. Dynamics
- 6. Motion Control
- 7. Force Control
- Appendix A: Linear Algebra
- Appendix B: Trajectory Planning
- Appendix C: Nonlinear Control Review
- References
- Index
Product information
- Title: Parallel Robots
- Author(s):
- Release date: February 2013
- Publisher(s): CRC Press
- ISBN: 9781466555778
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