| Popis: |
The present work aims to develop a mathematical model and position control algorithm of a 3-RRS (revolute, revolute, spherical) parallel manipulator, for driving simulators. For this purpose, the inverse and forward kinematics are considered. Furthermore, the actuator model, DC-Motors, is taken into account. A simulation-based approach is presented using MATLAB/Simulink with Simscape complement for the mechanical constraints. Then, each actuator’s position control is performed using the ADRC methodology, which provides robustness and simplicity in its implementation. Simulation results validate the proposal and the overall performance of the system is measured and compared with a PID-based solution using the ISE index. |
