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
Introduction. Motion Representation. Kinematics. Jacobians: Velocities and Static Forces. Dynamics. Motion Control. Force Control. Appendix A: Linear Algebra. Appendix B: Trajectory Planning. Appendix C: Nonlinear Control Review. References. Index.