Table of Contents
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.
Author(s)
Biography
Hamid D. Taghirad received his M.Sc. in mechanical engineering (mechatronics) in 1993 and his Ph.D. in electrical engineering (control–robotics) in 1997, both from McGill University, Montreal, Canada. He is currently a Professor and Director of the Applied Robotics and AI Solutions (ARAS), at K. N. Toosi University of Technology. Additionally, he has served as a Visiting Professor at McGill University, ETS, Concordia University, and most recently at the University of Alberta in Canada. As a senior member of IEEE, Hamid D. Taghirad contributes to the field of Robotics as an associate editor of IEEE Transactions on Medical Robotics and Bionics (IEEE – TMRB) and Frontiers in Robotics and AI – Biomedical Robotics. He is also part of the editorial board of the International Journal of Robotics: Theory and Applications. His research interests primarily revolve around robust and nonlinear control applied to robotics, with a focus on medical robotics, as well as the application of VR and AI technologies in medical applications. He boasts a substantial publication record, including seven books and over 300 papers in peer-reviewed international journals and conference proceedings.
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