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 (R) 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.
Hamid D. Taghirad (K.N. Toosi University of Technology Tehran Iran)
CRC Press Inc
Country of Publication:
19 February 2013
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
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.