Kinematic and Dynamical Modelling for Control of a Parallel Robot-based Surveillance/Sentry Device

Abstract

We contribute with a surveillance and defence system based on a 3SPS-1S parallel manipulator. The central constraining leg of the mechanism increases the stiffness of the system and forces the manipulator to have three pure rotation degrees of freedom. Determining inverse kinematics is trivial but solving forward kinematics is done by a numerical-geometrical approach obtaining a unique solution via artificial neural networks (ANN) and Newton-Raphson’s method. An optimized workspace is calculated with a genetic algorithm (GA) and singularities are also computed. Inverse and forward dynamics of the manipulator are also solved for control purposes. Three different designs are presented: one is a classical PID controller and the other two are fuzzy PD controllers. One of them works in sliding mode.