Parallel Robots: Mechanics and Control

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