Kinematic and dynamic modelling for real-time control of Tau parallel robot

This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration. A set of analytical kinematic solutions has been developed for this parallel structure. A rigid body dynamic model has been formulated based on the principle of virtual work. Specific requirements including model term separation for real-time model based motion control are addressed in the analytical solutions, which are verified by both numerical simulation and actual experiments. This analytical approach enables the real-time control of this parallel robot with high positioning accuracy.