Parallel Robots: Mechanics and Control
Autor Hamid D. Taghiraden Limba Engleză Hardback – 20 feb 2013
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.
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Specificații
ISBN-13: 9781466555761
ISBN-10: 1466555769
Pagini: 534
Ilustrații: 301 b/w images and 868 equations
Dimensiuni: 178 x 254 x 30 mm
Greutate: 1.07 kg
Ediția:New.
Editura: CRC Press
Colecția CRC Press
ISBN-10: 1466555769
Pagini: 534
Ilustrații: 301 b/w images and 868 equations
Dimensiuni: 178 x 254 x 30 mm
Greutate: 1.07 kg
Ediția:New.
Editura: CRC Press
Colecția CRC Press
Public țintă
Graduate students, researchers, and industry professionals working in the field of robotics.Cuprins
Introduction. Motion Representation. Kinematics. Jacobians: Velocities and Static Forces. Dynamics. Motion Control. Force Control. Appendix A: Linear Algebra. Appendix B: Trajectory Planning. Appendix C: Nonlinear Control Review. References. Index.
Notă biografică
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.
For more information, see Professor Taghirad’s profile at K.N. Toosi University of Technology.
Descriere
Although many industrial applications have adopted parallel robots, few textbooks introduce their analysis in terms of dynamics and control. Filling the gap, this book combines the analysis of kinematics and dynamics with methods of designing controllers. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures. Coverage includes Jacobian analysis, three methods for dynamic analysis, and advanced topics in control. Throughout, case studies show how the techniques can be applied in practice.