Although many industrial applications have adopted parallel robots, few textbooks introduce
their analysis in terms of dynamics and control. Filling the gap, this book combines the …

This paper gives survey of the position analysis, jacobian and singularity analysis, stiffness
analysis, dynamics and applications of serial and parallel robots. Also a detailed …

This paper presents a new joint coined as the rT joint and proposes two types of
metamorphic parallel mechanisms assembled with this rT joint. In the first type, the …

Hexapod circular external fixators are extremely accurate at correcting deformities in three
dimensions. In order to exploit this accuracy, however, the surgeon must be able to …

This study addresses the trajectory tracking control of a 6-DOF (degrees of freedom)
hydraulic parallel robot manipulator with uncertain load disturbances. As load disturbances …

In this paper, a novel model-based controller for a six Degree-of-Freedom (dof)
electrohydraulic Stewart–Gough platform is developed. Dynamic models of low complexity …

In this paper, we propose a novel adaptive sliding mode fault-tolerant control scheme based
on offline multibody dynamics for the uncertain Stewart platform under loss of actuator …

Pose estimation problems are fundamental in robotics. Most of these problems are
challenging due to the nonconvex nature. This also sets up an obstacle for uncertainty …

This paper presents a five degrees-of-freedom (DoF) low inertia shoulder exoskeleton. This
device is comprised of two novel technologies. The first is 3DoF spherical parallel …

In this paper the kinematic and Jacobian analysis of a macro–micro parallel manipulator is
studied in detail. The manipulator architecture is a simplified planar version adopted from …