Dynamics analysis and learning control for 3-PRPS platform

摘要

Employing a mathematical model to represent the dynamics of robot manipulators is a extremely difficult and complicated task. This study presents the dynamic analysis of parallel robot manipulators. The dynamic equations are first formulated in Cartesian space and then transformed into the joint space. Once the dynamic equations are derived, the D-type learning control algorithm is proposed to reduce position-tracking errors. The convergence conditions are also derived to ensure stability of the control systems. Moreover, a PC based, 3-PRPS platform control system is constructed to closely examine the effects of the D-type learning controller.