Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB
Published: Dec 1, 2011
Abstract
This paper is addressed to obtain dynamic model of spatial 3-DOF(Degree of freedom) parallel robot and verify the obtained model based on MATLAB with SimMechanics. The complex dynamic equations are derived via using Newton-Euler method and under identical condition dynamic, behaviors of derived model and SimMechanics model are surveyed. In addition, According to derived model, IDC controller (Inverse Dynamic Control) and ISMC controller...
Paper Details
Title
Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB
Published Date
Dec 1, 2011
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