Parallel Robots: Mechanics and Control – ARAS (Advanced Robotics and Automated System)

Parallel Robots: Mechanics & Control

Tentative Course Timetable

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