2008•Machine Tool & HydraulicsRequires access

Study on Control of a 3-RRRT Parallel Robot Based on Computed-torque

Hongmin Zhang

Abstract

In order to carry out the tracking control of a 3-RRRT parallel robot,the dynamic model was set up by using the Lagrange approach.The control law was designed based on computed-torque,and the controller was simulated using the Matlab software.The simulations show that the computed-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: Control theory (sociology), MATLAB, Torque, Robot, Controller (irrigation), Computer science, Parallel manipulator, Control engineering