Parallel robots : mechanics and control /: mechanics and control. (2013)

• Record Type: Book
• Further Information: Note: By Hamid Taghirad.
• Other Names: Taghirad, Hamid
• Contents: 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
• Publisher Details: Place of publication not identified : CRC Press
• Publication Date: 2013
• Extent: 1 online resource (533 pages), (301 illustrations)
• Subjects: 629.892; Parallel robots
• Languages: English
• ISBNs: 9781466599284; 1466599286
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.