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Full Description
This book provides the design and application of multiple control algorithms and motion planning to a family of parallel robots, which can be generalized to other robot counterparts. The book covers the fundamentals of dynamic models for control design, as well as a comparison of the control effects from the classical to advanced control algorithms step by step, which can help the researcher to understand the design procedure of control algorithms. It also includes different trajectory planning algorithms to ensure optimal robot performances. Furthermore, the research results previously scattered in many prestigious journals and conferences worldwide are methodically edited and presented in a unified form. The book is likely to be of interest to university researchers, R&D engineers, and graduate students in industrial parallel robotics who wish to learn the core principles, methods, algorithms, and applications.
Contents
Prerequisites.- Introduction.- Equations of Motion of Parallel SCARA Robot.- Identification of Dynamic Parameters.- Model-based Torque Control.- PD based Torque Control.- Fuzzy Torque Feedforward Control.- Fuzzy Sliding Mode Control.- Open-loop based Control.- Iterative Learning Control Design.- Input Shaping Control.- Motion Planning.- PPO Test Trajectory Design.- Trajectory Planning by Polynomial Curve.- NURBS Curve based Trajectory Design.- Trajectory Synthesis with Four-order S-curve.
