Iterative Compensation Control of 3-DOF Rotational Parallel Mechanism Based on Forward Kinematics

The kinematics equation of a 3-DOF(degree of freedom) rotational parallel mechanism is established,and the solutions of the inverse and forward kinematics are investigated. Then the dynamics equation of the robot is built,and the dynamics characteristics are analyzed. A dynamic simulator based on this mechanism is developed to simulate the vehicle posture changes of self-propelled weapons during moving. A closed loop controller based on inverse kinematics is used to control the simulator,and an open loop iterative compensation controller based on forward kinematics is developed at the same time to correct the posture driving signal and make simulator's response approximate the posture command gradually. Experiments show that the system precision is better than 95%,which validates the effectiveness of the iterative compensation control strategy.