Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators (Emerging Methodologies and Applications in Modelling, Identification and Control) - Softcover

Escorcia Hernandez, Jonatan Martin; Chemori, Ahmed; Sierra, Hipolito Aguilar

Softcover

ISBN 10: 0323961010 ISBN 13: 9780323961011

Publisher: Academic Press, 2023

Synopsis

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

About this title

About the Authors

Jonatan Martin Escorcia Hernández received his B.Sc in Robotic Engineering, M.Sc. in Automation and Control, and Ph.D. in Optomechatronics from the Polytechnic University of Tulancingo (UPT), Tulancingo de Bravo, Mexico in 2013, 2017, and 2020, respectively. He is currently working as a part time professor at the UPT, teaching classes in robotics engineering. His research interests include modeling, mechanical design, and nonlinear control of robotics systems.

Ahmed Chemori earned his M.Sc. and Ph.D. in Automatic Control from the Grenoble Institute of
Technology in 2001 and 2005, respectively. He has worked as a research and teaching assistant and is currently a senior research scientist at LIRMM, University of Montpellier, focusing on nonlinear control and its applications in robotics.

Hipólito Aguilar Sierra received the B.Sc. degree in Mechatronics Engineering from UPIITA-IPN in 2009; and M.Sc. and Ph. D degrees both in Automatic Control from the CINVESTAV Zacatenco, Mexico City, Mexico, in 2011 and 2016, respectively. He is currently a Full-time professor at Faculty of Engineering from the La Salle Mexico University. His research interests include Medical robots, Rehabilitation robots, Exoskeleton robotics and Nonlinear control.

From the Back Cover

Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators deals with the modeling and control of parallel robots. Its content will benefit students, researchers, and engineers in robotics with 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. Besides, it can easily extend the proposed robust control solutions to other robotic architectures.

Edition details

• Publisher: Academic Press
• Publication date: 2023
• Language: English
• ISBN 10: 0323961010
• ISBN 13: 9780323961011
• Binding: Paperback
• Edition number: 1
• Number of pages: 170