2009•Machinery Design and ManufactureRequires access

Study on control of a 3-RRRT parallel robot based on computed-torque

Yanbin Liu

Abstract

In order to carry out the tracking control of a 3-RRRT parallel robot,the dynamics were herived from the kinematics using the Lagrange approach.The control law was designed based on computed-torque. And the controller was simulated using the Matlab software.simulations show that the comput-ed-torque control can come true the global stable dynamic tracking control of a 3-RRRT parallel robot.

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Available abstract

Key concepts: Torque, MATLAB, Control theory (sociology), Kinematics, Parallel manipulator, Computer science, Control engineering, Controller (irrigation)