CONTROLLER DESIGN BASED ON A KINEMATIC ESTIMATOR FOR A 3RRR PLANAR PARALLEL ROBOT DRIVEN BY ELECTRIC MOTORS
Keywords:Dynamic modelling, Motion control, 3RRR planar parallel robot, Kinematic estimation, Numerical simulation
The control of parallel robotic manipulator requires feedbacks of all the redundant coordinates and their derivatives. In practice, to have all feedback variables for the controller, a robot needs more sensors than its degree of freedom. These sensors measure not only the actuated joint variables, but also the auxiliary variables, position and velocity of the moving platform. In this paper, a novel method is introduced to estimate dependently generalized coordinates and motion of the moving platform. A kinematic error feedback technique is exploited to ensure the estimated motion converge to the actual motion of the robot.
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