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n today's rapidly evolving industrial landscape, robotics has become essential for meeting the demands of large-scale production. Parallel robots, with their closed-loop kinematic structures, offer unmatched precision, rigidity, and load-bearing capabilities, making them indispensable for tasks requiring high accuracy and efficiency.
List of contents
Part I: Preliminary Studies
1 Introduction. 2 Motion Representation. 3 Advanced Representations.
Part II: Kinematics
4 Kinematic Analysis. 5 Jacobian Matrix and Singularity. 6 Jacobian Matrix: Mappings & Characteristics
Part III: Dynamics
7 Dynamics Analysis: Newton-Euler Approach. 8 Dynamics Analysis: Euler-Lagrange Approach. 9 Dynamics Analysis: Virtual Work Approach. 10 Dynamic Simulation and Calibration.
Part IV: Control
11 Linear Motion Control. 12 Nonlinear and Multivariable Control. 13 Force Control. 14 Impedance Control.
Appendix A: Review on Linear Algebra. Appendix B: Review on Nonlinear Control.
About the author
Hamid D. Taghirad received his M.Sc. in mechanical engineering (mechatronics) in 1993 and his Ph.D. in electrical engineering (control-robotics) in 1997, both from McGill University, Montreal, Canada. He is currently a Professor and the Director of the Applied Robotics and AI Solutions (ARAS), K. N. Toosi University of Technology. Additionally, he has served as a Visiting Professor at McGill University, ETS, Concordia University, and most recently at the University of Alberta in Canada. As a senior member of IEEE, Hamid D. Taghirad contributes to the field of Robotics as an associate editor of IEEE Transactions on Medical Robotics and Bionics (IEEE - TMRB) and Frontiers in Robotics and AI - Biomedical Robotics. He is also part of the editorial board of the International Journal of Robotics: Theory and Applications. His research interests primarily revolve around robust and nonlinear control applied to robotics, with a focus on medical robotics, as well as the application of VR and AI technologies in medical applications. He boasts a substantial publication record, including seven books and over 300 papers in peer-reviewed international journals and conference proceedings.
