Parallel Robots : Mechanics and Control (Paperback, 2 ed)

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.