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[PDF] Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

ISBN: 9535104377

Category: Tutorial


Posted on 2018-01-03, by luongquocchinh.

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Author: Serdar Kucuk | Category: Robotics | Language: English | ISBN: 9535104377 |

Description: This new book provides information about fundamental topics of serial and parallel manipulators such as kinematics & dynamics modeling, optimization, control algorithms and design strategies. The robotics is an important part of modern engineering and is related to a group of branches such as electric & electronics, computer, mathematics and mechanism design. The interest in robotics has been steadily increasing during the last decades. This concern has directly impacted the development of the novel theoretical research areas and products. Contents Preface Part 1 Kinematics and Dynamics 1 Inverse Dynamics of RRR Fully Planar Parallel Manipulator Using DH Method 2 Dynamic Modeling and Simulation of Stewart Platform 3 Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms 4 Kinematic and Dynamic Modelling of Serial Robotic Manipulators Using Dual Number Algebra 5 On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines 6 Parallel, Serial and Hybrid Machine Tools and Robotics Structures: Comparative Study on Optimum Kinematic Designs 7 Design and Postures of a Serial Robot Composed by Closed-Loop Kinematics Chains 8 A Reactive Anticipation for Autonomous Robot Navigation Part 2 Control 9 Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy 10 Position Control and Trajectory Tracking of the Stewart Platform 11 Obstacle Avoidance for Redundant Manipulators as Control Problem 12 Nonlinear Dynamic Control and Friction Compensation of Parallel Manipulators 13 Estimation of Position and Orientation for Non-Rigid Robots Control Using Motion Capture Techniques 14 Brush less Permanent Magnet Servomotors 15 Fuzzy Modelling Stochastic Processes Describing Brownian Motions Part 3 Optimization 16 Heuristic Optimization Algorithms in Robotics 17 Multi-Criteria Optimal Path Planning of Flexible Robots 18 Singularity Analysis, Constraint Wrenches and Optimal Design of Parallel Manipulators 19 Data Sensor Fusion for Autonomous Robotics 20 Optimization of H4 Parallel Manipulator Using Genetic Algorithm 21 Spatial Path Planning of Static Robots Using Configuration Space Metrics with TOC BookMarkLinks

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