ANALYTIC GEOMETRICAL SOLUTION FOR KINEMATIC PROBLEM APPLY IN 3 DEGREES OF FREEDOM PARALLEL ROBOT CONTROL

Abstract

This paper presents an analytic geometrical approach to solve kinematic
problems in three degrees of freedom (3-DOF) parallel robot control. From the
linkage equations that describe the relationship between the motion of the robot
joints and the motion of the end effector, we will restate the kinematics problem
in geometric form and provide a solution based on the theory of analytic
geometry. The accuracy of the proposed method will be verified through
comparison with published results. Furthermore, the analytic geometrical
solution for the kinematics problem will also be used to implement a complete
control structure for 3-DOF parallel robot, the efficiency of combining the
kinematics problem with the controller will be described through simulation
results on Matlab Simulink.