Modeling And Nonlinear Robust Control Of Delta Like Parallel Kinematic Manipulators
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Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators
Author: Jonatan Martin Escorcia Hernandez
language: en
Publisher: Elsevier
Release Date: 2022-11-29
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. 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
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