Abstract
Since this book's aim lies in the modeling and control of PKMs, this chapter introduces first a brief description of the main formulations used in computing of the dynamic model of PKMs. These formulations are Newton-Euler, the principle of virtual works, and Euler-Lagrange. Moreover, a common simplification used for PKMs with delta-like architecture is introduced. Regarding the control aspect, a survey of the main existing control techniques implemented on PKMs is presented. These control schemes are classified into two main categories: non-model-based controllers and model-based controllers.
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