Control for 3-PRS Spatial Delta Parallel Manipulator


Nguyen Van Quyen†, Dang Danh Hoang‡,*


† Hanoi University of Science and Technology, Vietnam.
‡ Thai Nguyen University of Technology, Vietnam.

Corresponding Author Email: hoangktd1977@tnut.edu.vn

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The motion equations of parallel spatial manipulators are a system of complicated differential-algebraic equations. So, the construction of enough accurate and relatively simple mechanical models is needed. This paper introduces two mechanical models which can be used by control for the 3-PRS parallel manipulator. Using the methods as PD control, PID control, sliding control, and sliding control using a neural network to control 3-PRS parallel manipulator based on two different mechanical models is the article’s main content. The simulation results showed PD control method, PID showed promising results when using enough accurate mechanical models. In the case of a complex mechanical model, the sliding control method and sliding control using a neural network give us better results. A robot model is built and utilized by exploiting MATLAB-the reliable simulation environment instead of an actual expensive prototype. The simulation results indicate that the responses of the inverse dynamic controller for a 3-PRS Delta robot manipulator.