Robotics : state of the art and future trends

This book provides an insight on the current state of the art in industrial robotics, with a critical analysis of the state of the market and an overview of the emerging robotic trends. It is composed of twelve chapters, each one addressing one topic of the current research arena. The first part of each chapter is devoted to the fundamentals and the second part discusses an interesting application. The significant topics considered include robot design, control and robotics in non-conventional applications. The book also addresses the design, modelling and optimisation of parallel kinematic structures exploiting also the advantages of screw theory.

Irene Fassi and Giovanni LegnaniL. Tirloni and I. Fassi and G. LegnaniChin-Hsing Kuo and Jian S. DaiGianni Castelli and Erika OttavianoE. Rodriguez-Leal and J.S. Dai and G.R. PennockJaime Gallardo Alvarado and Karla A. Camarillo-Gomez and Ramón Rodríguez-CastroGloria J. Wiens and Young-Hoon OhHadi Delavari and DanialMohammadi SenejohnnyPaulo J.S. Gonçalves and Pedro M.B. TorresJ. A. Corrales and G. J. García and F. Torres and F. A. Candelas and J. Pomares and P. GilMatteo Malosio and Nicola Pedrocchi and Federico Vicentini and Lorenzo Molinari Tosatti and Marco Caimmi and Franco MolteniMatteo Malosio and Nicola Pedrocchi and Federico Vicentini and Lorenzo Molinari Tosatti and Marco Caimmi and Franco MolteniD. Sinan Hdliyo and Stéphane Regnier

Preface	p. vii
Chapter 1 Robot in Industrial Applications: State of the Art and Current Trends	p. 1
Chapter 2 A Partially-Decoupled 4-Dof General 3 SPS/PS Parallel Manipulator	p. 29
Chapter 3 Manipulators Workspace Analysis as based on a Numerical Approach: Theory and Applications	p. 55
Chapter 4 On the Mobility of 3-DOF Parallel Manipulators via Screw Theory	p. 75
Chapter 5 An Application of Screw Algebra to the Jerk Analysis of a Class of Six Degrees of Freedom Three Legged Parallel Manipulators	p. 113
Chapter 6 Dynamics and System Identification of Parallel Robots	p. 139
Chapter 7 Fractional-Order Controllers for Robot Manipulator	p. 189
Chapter 8 Visual Control of Robotic Manipulators: Fundamentals	p. 213
Chapter 9 Flexible Applications of Robotic Manipulators Based on Visual-Force Control and Cooperation with Humans	p. 241
Chapter 10 Robotics in Rehabilitation - Part I: Requirements and Control Issues	p. 265
Chapter 11 Robotics in Rehabilitation - Part II: Design of Devices and Mechanisms	p. 299
Chapter 12 An Overview on Robotic Micromanipulation	p. 321
Index	p. 355

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