Motion Planning and Control of Parallel Mechanisms through Inverse Dynamics

The inverse dynamic analysis of an electro-mechanical system consisting of a three-degree-of-freedom planer parallel mechanism driven by three motors is carried out. A successful linearisation of the system and error dynamics is achieved for each desired motion. The linearised models are used in the adaptive control strategy avoiding the need to perform the computationally intensive inverse dynamic simulation in real-time. It is shown that accurate linear models can be obtained for a given motion, but model parameters change significantly with change of the motion. Significant differences are also observed between the system dynamics and the error dynamics models. The presented simulation results show the effectiveness of the adaptive control strategy.