**Preface XIII**


X Contents



Contents VII

Chapter 20 **Optimization of H4 Parallel** 

Debanik Roy

Chapter 21 **Spatial Path Planning of Static Robots**

**Manipulator Using Genetic Algorithm 401**  M. Falahian, H.M. Daniali and S.M. Varedi

**Using Configuration Space Metrics 417**


#### **Part 3 Optimization 309**


Chapter 20 **Optimization of H4 Parallel Manipulator Using Genetic Algorithm 401**  M. Falahian, H.M. Daniali and S.M. Varedi

VI Contents

Chapter 8 **A Reactive Anticipation for** 

Chapter 10 **Position Control and Trajectory** 

Selçuk Kizir and Zafer Bingul

Leon Žlajpah and Tadej Petrič

Chapter 12 **Nonlinear Dynamic Control and Friction** 

Weiwei Shang and Shuang Cong

Chapter 11 **Obstacle Avoidance for Redundant** 

Przemysław Mazurek

Anna Walaszek-Babiszewska

Pakize Erdogmus and Metin Toz

Chapter 18 **Singularity Analysis, Constraint Wrenches** 

Özer Çiftçioğlu and Sevil Sariyildiz

Metin Aydin

**Part 3 Optimization 309**

Chapter 15 **Fuzzy Modelling Stochastic**

**Part 2 Control 165** 

**Autonomous Robot Navigation 143** 

Chapter 9 **Singularity-Free Dynamics Modeling and Control of** 

**Tracking of the Stewart Platform 179**

**Manipulators as Control Problem 203** 

**Compensation of Parallel Manipulators 231** 

**Processes Describing Brownian Motions 295** 

Chapter 17 **Multi-Criteria Optimal Path Planning of Flexible Robots 339**  Rogério Rodrigues dos Santos, Valder Steffen Jr. and Sezimária de Fátima Pereira Saramago

> **and Optimal Design of Parallel Manipulators 359**  Nguyen Minh Thanh, Le Hoai Quoc and Victor Glazunov

Chapter 16 **Heuristic Optimization Algorithms in Robotics 311** 

Chapter 19 **Data Sensor Fusion for Autonomous Robotics 373** 

**Robots Control Using Motion Capture Techniques 253** 

Chapter 13 **Estimation of Position and Orientation for Non–Rigid** 

Chapter 14 **Brushless Permanent Magnet Servomotors 275** 

Andreas Müller and Timo Hufnagel

Emna Ayari, Sameh El Hadouaj and Khaled Ghedira

**Parallel Manipulators with Actuation Redundancy 167** 

Chapter 21 **Spatial Path Planning of Static Robots Using Configuration Space Metrics 417**  Debanik Roy

Preface

current developments.

The interest in robotics has been steadily increasing during the last decades. This concern has directly impacted the development of the novel theoretical research areas and products. Some of the fundamental issues that have emerged in serial and especially parallel robotics manipulators are kinematics & dynamics modeling, optimization, control algorithms and design strategies. In this new book, we have highlighted the latest topics about the serial and parallel robotic manipulators in the sections of kinematics & dynamics, control and optimization. I would like to thank all authors who have contributed the book chapters with their valuable novel ideas and

**Assoc. Prof. PhD. Serdar Küçük**

Turkey

Kocaeli University, Electronics and Computer Department, Kocaeli
