Dynamics formulation and motion control of a planar parallel manipulator

This paper is devoted to dynamic formulation and motion control of a planar PRP parallel robot. Three intersecting rod comprises the manipulator of the mechanism which are fixed to each other and are coupled pivotedly to linear guides at the free ends. by actuating any of the linear guides along the sides of a triangle individually, the planar motion of the manipulator is provided. At first the kinematic and dynamic formulation of the mechanism is extracted in a closed form, which is of great interest in control applications. Based on the dynamic model, a computed torque control scheme is applied for the motion control of the robot. To analyze the performance of the controller it is implemented on a model of the mechanism made on simulation software for a predefined trajectory. The results of the motion tracking indicates the suitable performance of the implemented control scheme.