Parallel Robots : Mechanics and Control book cover
1st Edition

Parallel Robots
Mechanics and Control

ISBN 9781466555761
Published February 20, 2013 by CRC Press
533 Pages 301 B/W Illustrations

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Book Description

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 and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry.

Covers Kinematics, Dynamics, and Control in One Volume

The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail.

Analysis and Design Tools to Help You Create Parallel Robots

In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.

Table of Contents

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

Loop Closure Method
Kinematic Analysis of a Planar Manipulator
Kinematic Analysis of Shoulder Manipulator
Kinematic Analysis of Stewart–Gough Platform

Jacobians: Velocities and Static Forces
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

Dynamics of Rigid Bodies: A Review
Newton–Euler Formulation
Virtual Work Formulation
Lagrange Formulation

Motion Control
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

Force Control
Controller Topology
Stiffness Control
Direct Force Control
Impedance Control

Appendix: Linear Algebra
Vectors and Matrices
Vector and Matrix Operations
Eigenvalues and Singular Values
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



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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.