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
Course Videos and Guideline

Course Videos

Session2: Ch1 (pp. 01-22)

Session3: Ch.2 (pp. 23-31)

Session4: Ch.2 (pp. 31-37)

Session5: Ch.2 (pp. 50-58)

Session6: Ch.3 (pp. 59-67)

Session7: Ch.3 (pp. 67-83)

Session8: Ch.3 (pp. 83-110)

Session9: Ch.4 (pp. 111-120)

Session10: Ch.4 (pp. 120-127)

Session11: Ch.4 (pp. 127-147)

Session12: Ch.4 (pp. 147-166)

Session13: Ch.5 (pp. 167-176)

Session14: Ch.5 (pp. 176-188)

Session15: Ch.5 (pp. 188-207)

Session16: Ch.5 (pp. 207-232)

Session17: Ch.5 (pp. 232-240)

Session18: Ch.5 (pp. 240-252)

Session19: Ch.5(pp.252-268+VW)

Session20: Ch.6 (pp. 269-275)

Session21: Ch.5(pp.275-282+A.C)

Session22: Ch.6 (pp. 282-286)

Session23: Ch.6 (pp. 286-302)

Session24: Ch.6 (pp. 302-314)

Session25: Ch.6 (pp. 314-390)

Session26: Ch.7 (pp. 391-404)

Session27: Ch.7 (pp. 404-426)

Session28: Ch.7 (pp. 426-448)

Session29: Ch.7 (pp. 448-End)

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Course Materials

Lecture Notes

Online Course

Video Lectures