Hamid D. Taghirad received his [...]. 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 the Director of the Advanced Robotics and Automated System (ARAS). 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.

Preface

I Preliminary Studies

1 Introduction

2 Motion Description

3 Advanced Representations

II Kinematics

4 Forward Kinematics

5 Inverse Kinematics

6 Jacobian Matrix

7 Singularity and Dexterity

III Dynamics

8 Dynamic Analysis

9 Dynamics Properties and Representations

10 Simulation and Calibration

IV Control

11 Linear Motion Control

12 Nonlinear Motion Control

13 Force Control

14 Impedance Control

A Review on Linear Algebra

B Review on Nonlinear Control

Bibliography

Index