Dynamic Analysis And Simulation Of Computed Torque Control Of A Parallel Robot 3sps-Iu

Abstract

The parallel robots have entered the industry with the passage of time, being the mathematical model very important to the development of control strategies allowing obtain a better performance. So an analysis dynamic to find the parameters of the dynamic equation characteristic is made using the method of Euler - Lagrange, and expressions generals are found, so these can be used to other parallel robots with a major number of degrees of freedom. The simulation of the dynamic is made in Matlab, then a computed torque control is proposed and simulated using Matlab-Simulink. In this way, the performance of the controller can be analyzed.