Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators

Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators deals with the modeling and control of parallel robots. The book's content will benefit students, researchers and engineers in robotics by providing a simplified methodology to obtain the dynamic model of parallel robots with a delta-type architecture. Moreover, this methodology is compatible with the real-time implementation of model-based and robust control schemes. And, it can easily extend the proposed robust control solutions to other robotic architectures. Introduces a novel parallel robot designed for machining operations called SPIDER4 Presents a mathematical formulation of the kinematic and dynamic models of SPIDER4 Offers validation of the computed mathematical models and designed controllers through real-time experiments under different operating conditions INDICE: 1. Introduction 2. Literature review about modelling and control of PKMs 3. Description and Modelling of Experimental platforms 4. Proposed Robust Control Solutions 5. Numerical simulations and Real-time experimentsGeneral Conclusion Appendices A Proof of lemma 1 B Trajectory points for SPIDER4 B1 Trajectory points for Scenario 1 B2 Trajectory points for scenario 2

• ISBN: 978-0-323-96101-1
• Editorial: Academic Press
• Encuadernacion: Rústica
• Páginas: 200
• Fecha Publicación: 27/01/2023
• Nº Volúmenes: 1
• Idioma: Inglés