Comparison of motion control techniques for a 3RPS parallel manipulator

Abstract

In this paper, three motion control techniques are discussed for 3RPS parallel robot. The main purpose of this research is to study the model-based control techniques to determine whether these techniques are capable of reducing the tracking error considering the measurement noise and external disturbance. In order to evaluate the proposed approach, three different techniques are presented. Inverse dynamics control that is a simple controller and robust Inverse dynamics control and adaptive Inverse dynamics control which are other expansions of Inverse dynamics control. Dynamic modeling of the manipulator has been analyzed in order to be used for both simulation and control purposes. Then the structure of the controllers and their features are discussed. Performance of the controllers has been examined through simulation. It is observed that the adaptive Inverse dynamics control is capable of providing suitable motion tracking, while high amount of uncertainties in model is considered.