Dynamics and control of a novel 3-DoF spatial parallel robot

Singularity analysis of a novel three translational DoF parallel robot considering kinematic asymmetric property

“…q 1i is measured from the x i -axis to AB , q 2i is defined from the extended line of AB to the line defined by the intersection of the plane of the parallelogram and the x i -z i plane, and q 3i is measured from the y i direction to For inverse kinematic, the position vector p of the mobile platform is given and the problem is to find the joint angles 11 q , 12 q , and 13 q required to bring the mobile platform to the desired position. The solutions for 11 q , 12 q , and 13 q are given by [21]. With considering verification results, it c that both of two methods results are as clo 3 n ) i q (2) 2i q and 3i q , there le platform in the studies in order to (3) x, y, and z are in ers of Table I With c stands for cosine, s vectors in (6) …”

“…Equation (20) can be written in following form (21) Where the intermediate Jacobian for this modified mechanism can be written into a matrix form as follows ,…”

“…Aforementioned architecture has utilized optimization methodology by making compromise between the performance of manipulator dexterity and workspace volume using weighted sum of them as the mixed performance index. The architecture of the manipulator is described in details and developed closed-form solutions for inverse kinematics, in [21], is validated via commercial software MSC.Adams©. After that, Jacobian of robot is derived and singularity analysis of the manipulator is performed using velocity vector-loop equations method.…”

Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application

“…Authors used Integer Order PID (IOPID) and Fractional Order PID (FOPID) base computed torque control technique and proposed an algorithm to find gains of the controller by using Matlab function. The fuzzy method is used by many authors in [6]- [9] to control the motion of Delta robot.…”

Parametric Approach to Trajectory Tracking Control of Robot Manipulators

“…Trajectory tracking problem is the most significant and fundamental task in control of robotic manipulator. Motivated by requirements such as a high degree of automation and fast speed operation from industry, various control methods are used such as PID control, adaptive control, variable structure control, neural networks control, and fuzzy control [1][2][3][4][5].…”