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

Provides a framework for kinematics, dynamics and control of any parallel robot with a delta-like architecture

Jonatan Martin Escorcia Hernandez (Author), Ahmed Chemori (Author), Hipolito Aguilar Sierra (Author)

9780323961011, Elsevier Science

Paperback / softback, published 17 January 2023

170 pages
22.9 x 15.2 x 1.2 cm, 0.45 kg

Modeling 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.

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 experiments
General Conclusion
Appendices
A Proof of lemma 1
B Trajectory points for SPIDER4
B1 Trajectory points for Scenario 1
B2 Trajectory points for scenario 2

Subject Areas: Information visualization [UYZF], Computing & information technology [U], Electrical engineering [THR], Mechanical engineering [TGB]