Parallel Robots: Mechanics and Control

Course Name: Parallel Robots

Course No.: ECE_1124004

Professor: Prof. Hamid D. Taghirad

Taught Semesters: Fall (2020, 2017, 2014, 2012, 2008, 2006)

Tentative Course Timetable

The tentative course contents are as following:

Time: Teaching Contents
Week 1 Introduction: Robotics at a glance, kinematic chains, Grubler criterion, loop mobility criterion, robot classifications,
Week 2 Introduction: Description of position and orientation, screw-axis representation, Euler angle representations.
Week 3 Kinematics: Kinematics analysis of parallel manipulators, vector loop equations, 3RRR manipulator.
Week 4 Kinematics: Kinematics analysis of spatial orientation manipulator and Stewart Gough manipulator.
Week 5 Jacobian:  Angular and linear velocity, Jacobian matrices, Singularity conditions, conventional Jacobians, 3RRR manipulator, spatial orientation manipulator and Stewart Gough manipulator, Screw-based Jacobians.
Week 6 Stiffness: Force-moment relations, principle of virtual work, 3RRR manipulator, stiffness analysis of parallel manipulators, stiffness analysis of Stewart-Gough platform.
Week 7 Midterm Exam
Week 8 Dynamics: Dynamics analysis of parallel manipulators, Newton-Euler formulation, dynamic analysis of Stewart-Gough platform.
Week 9 Dynamics:  dynamics analysis of parallel manipulators, Principle of virtual work,
Week 10 Dynamics:  Lagrange formulation, dynamic analysis of CKCM Robot, properties of manipulator dynamics.
Week 11 Control: Introduction to control of parallel manipulators, position control topologies, Nonlinear Control Background.
Week 12 Control: Position control: inverse dynamics control.
Week 13 Control: Robust inverse dynamics control, Force control topologies stiffness control.
Week 14 Control: Force control topologies: Direct force control, impedance control.
Week 15 Hybrid Control:  Force-position control, matrix inclusion method, hybrid force-motion control topology

Course Content & Videos

2006  | 2008   | 2012   | 2014   | 2017  

1 (Introduction)

Course Videos

2-6

2

Ch1 (pp. 01-22)

3

Ch.2 (pp. 23-31)

4

Ch.2 (pp. 31-37)

5

Ch.2 (pp. 50-58)

6

Ch.3 (pp. 59-67)

7-11

7

Ch.3 (pp. 67-83)

8

Ch.3 (pp. 83-110)

9

Ch.4 (pp. 111-120)

10

Ch.4 (pp. 120-127)

11

Ch.4 (pp. 127-147)

12-16

12

Ch.4 (pp. 147-166)

13

Ch.5 (pp. 167-176)

14

Ch.5 (pp. 176-188)

15

Ch.5 (pp. 188-207)

16

Ch.5 (pp. 207-232)

17-21

17

Ch.5 (pp. 232-240)

18

Ch.5 (pp. 240-252)

19

Ch.5(pp.252-268+VW)

20

Ch.6 (pp. 269-275)

21

Ch.5(pp.275-282+A.C)

22-26

22

Ch.6 (pp. 282-286)

23

Ch.6 (pp. 286-302)

24

Ch.6 (pp. 302-314)

25

Ch.6 (pp. 314-390)

26

Ch.7 (pp. 391-404)

27-29

27

Ch.7 (pp. 404-426)

28

Ch.7 (pp. 426-448)

29

Ch.7 (pp. 448-End)

Teaching Assistant Class Videos

TA-1

Chapter 3: Kinematics

TA-2

ADAMS Software

References

1 Hamid D. Taghirad, “Parallel Robots: Mechanics and Control”,  CRC Press, 2013.
2 Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York, Wiley, 1999.
3 M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, New York, Wiley, 2006.
4 L. Sciavicco, B. Siciliano, “Modelling and Control of Robot Manipulators” , Springer Verlag, 2nd ed. 2001.
5 J.P. Merlet, “Parallel robots”, Boston, MA : Kluwer Academic Publishers, 2000.
6 Carl Crane, “Screw theory for spatial robot manipulators”, Cambridge, Oxford, 2005.
7 Selected papers.

Parallel Robots: Mechanics and Control

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