Redundant dynamic modelling of the 3RRR parallel robot for control error reduction

The current trend in robotics is to achieve robust, high-speed and precise robots that fulfill the industry´s requirements. Parallel robots are proposed as the best solution for some of these tasks due to the advantages offered by their parallel kinematic structure. However, in order to take the most of these advantages, advanced model-based control approaches are needed. In this paper, the dynamic model of the 3RRR is obtained in order to consider passive joint sensor data. The dynamic model developed is defined in a compact and structured form and is used to implement a novel redundant Computed Torque Control Scheme. Experimental data show that this approach increases the trajectory tracking and positioning accuracy of the 3RRR planar parallel robot.