Jonatan Martin Escorcia Hernandez,
Jonatan Martin (Polytechnic University of Tulancingo, Mexico) Escorcia Hernandez,
Ahmed Chemori,
Ahmed (LIRMM, University of Montpellier, CNRS, Montpellier, France.) Chemori,
Hipolito Aguilar Sierra,
Hipolito Aguilar (La Salle University, Mexico) Sierra
e.a.
Elsevier Science
e druk, 2023
9780323961011
Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators
Specificaties
Paperback, blz.
|
Engels
Elsevier Science |
e druk, 2023
ISBN13: 9780323961011
Rubricering
Onderdeel van serie
Emerging Methodologies and Applications in Modelling, Identification and Control
Verwachte levertijd ongeveer 9 werkdagen
Samenvatting
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.
Specificaties
Inhoudsopgave
1. Introduction <br>2. Literature review about modelling and control of PKMs <br>3. Description and Modelling of Experimental platforms <br>4. Proposed Robust Control Solutions <br>5. Numerical simulations and Real-time experiments<br>General Conclusion <br>Appendices <br>A Proof of lemma 1 <br>B Trajectory points for SPIDER4 <br>B1 Trajectory points for Scenario 1 <br>B2 Trajectory points for scenario 2