Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB

Abstract

This paper is addressed to obtain dynamic model of spatial 3-DOF(Degree of freedom) parallel robot and verify the obtained model based on MATLAB with SimMechanics. The complex dynamic equations are derived via using Newton-Euler method and under identical condition dynamic, behaviors of derived model and SimMechanics model are surveyed. In addition, According to derived model, IDC controller (Inverse Dynamic Control) and ISMC controller (Integral Sliding Mode Control) are developed to achieve proper performance in dynamic behavior. Simulation results show that the responses of the obtained dynamic model are fully consistent with SimMechanics model in MATLAB and controllers are excellent in trend of control activities to achieve fine performance.