Introduction
What Is a Robot?
Robot Components
Robot Degrees-of-Freedom
Robot Classification
The Aims and Scope of This Book
Motion Representation
Spatial Motion Representation
Motion of a Rigid Body
Homogeneous Transformations
Problems
Kinematics
Introduction
Loop Closure Method
Kinematic Analysis of a Planar Manipulator
Kinematic Analysis of Shoulder Manipulator
Kinematic Analysis of Stewart–Gough Platform
Problems
Jacobians: Velocities and Static Forces
Introduction
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
Problems
Dynamics
Introduction
Dynamics of Rigid Bodies: A Review
Newton–Euler Formulation
Virtual Work Formulation
Lagrange Formulation
Problems
Motion Control
Introduction
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
Problems
Force Control
Introduction
Controller Topology
Stiffness Control
Direct Force Control
Impedance Control
Problems
Appendix: Linear Algebra
Vectors and Matrices
Vector and Matrix Operations
Eigenvalues and Singular Values
Pseudo-Inverse
Kronecker Product
Appendix: Trajectory Planning
Point-to-Point Motion
Specified Path with Via Points
Appendix: Nonlinear Control Review
Dynamical Systems
Stability Definitions
Lyapunov Stability
Krasovskii–Lasalle Theorem
References
Index
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.
For more information, see Professor Taghirad’s profile at K.N. Toosi University of Technology.
