Inverse dynamics and control of a 3-DOF planar parallel (U-shaped 3-PPR) manipulator
Inverse dynamics of a 3-DOF planar parallel robot (3-PPR) is presented. A robust tracking controller with disturbance compensation has been introduced. Effectiveness of the controller has been demonstrated with prototype experiments. A comparative study of the proposed and existing controllers has been performed.
inverse dynamics planar parallel manipulator adaptive control motion control sliding mode control proportional-derivative control disturbance observer