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The Resource Parallel robots : mechanics and control, Hamid D. Taghirad

Parallel robots : mechanics and control, Hamid D. Taghirad

Label
Parallel robots : mechanics and control
Title
Parallel robots
Title remainder
mechanics and control
Statement of responsibility
Hamid D. Taghirad
Creator
Author
Subject
Genre
Language
eng
Summary
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 VolumeThe 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 RobotsIn 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
Member of
Cataloging source
UMI
http://library.link/vocab/creatorName
Taghirad, Hamid
Dewey number
629.8/92
Illustrations
illustrations
Index
no index present
LC call number
TJ211.4152
LC item number
.T34 2013
Literary form
non fiction
Nature of contents
  • dictionaries
  • bibliography
http://library.link/vocab/subjectName
  • Parallel robots
  • TECHNOLOGY & ENGINEERING
  • Parallel robots
Label
Parallel robots : mechanics and control, Hamid D. Taghirad
Instantiates
Publication
Copyright
Bibliography note
Includes bibliographical references (pages 501-509)
Carrier category
online resource
Carrier category code
  • cr
Carrier MARC source
rdacarrier
Content category
text
Content type code
  • txt
Content type MARC source
rdacontent
Contents
Motion representation -- Kinematics -- Jacobians: velocities and static forces -- Dynamics -- Motion control -- Force control
Control code
870449998
Extent
1 online resource (xiii, 509 pages)
Form of item
online
Isbn
9781466555778
Lccn
2012040401
Media category
computer
Media MARC source
rdamedia
Media type code
  • c
Other physical details
illustrations
http://library.link/vocab/ext/overdrive/overdriveId
cl0500000371
Specific material designation
remote
System control number
(OCoLC)870449998
Terms governing use
Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.
Label
Parallel robots : mechanics and control, Hamid D. Taghirad
Publication
Copyright
Bibliography note
Includes bibliographical references (pages 501-509)
Carrier category
online resource
Carrier category code
  • cr
Carrier MARC source
rdacarrier
Content category
text
Content type code
  • txt
Content type MARC source
rdacontent
Contents
Motion representation -- Kinematics -- Jacobians: velocities and static forces -- Dynamics -- Motion control -- Force control
Control code
870449998
Extent
1 online resource (xiii, 509 pages)
Form of item
online
Isbn
9781466555778
Lccn
2012040401
Media category
computer
Media MARC source
rdamedia
Media type code
  • c
Other physical details
illustrations
http://library.link/vocab/ext/overdrive/overdriveId
cl0500000371
Specific material designation
remote
System control number
(OCoLC)870449998
Terms governing use
Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.

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