Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators

By: Ahmed Chemori, Jonatan Martin Escorcia Hernandez, Hipolito Aguilar Sierra

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Paperback | 17 January 2023

At a Glance

Paperback
170 Pages

Dimensions(cm)
22.23 x 15.24 x 1.27

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$428.75

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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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