@inproceedings{6b48e9a9b16149d180e8d668046a3df2,
title = "Workspace solution and PID control of 3-DOF parallel mechanism based on Matlab/SimMechanics",
abstract = "This paper deals with the workspace solution and PID control realization of an R-P-S (Revolute-Prismatic-Spherical) joint structural 3-DOF parallel mechanism. Workspace and controllability are two important aspects of parallel mechanisms. This paper analyzes the inverse kinematics of this mechanism and proposes a numerical method of dispersing independent pose variables to determine its workspace in Matlab software under the consideration of inverse kinematics and physical constraints. After a virtual model is established using SimMechanics module from Matlab/Simulink, a PID controller and other modules are designed to make the manipulator reach desired pose. And response of the center of upper platform for a 2cm motion along the z direction is analyzed and result shows that this virtual model could simulate the motion of this mechanism properly.",
keywords = "3-DOF parallel mechanism, PID controller, SimMechanics, inverse kinematics, workspace",
author = "Jiaxing Li and Yunhua Li",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017 ; Conference date: 18-06-2017 Through 20-06-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/ICIEA.2017.8283059",
language = "英语",
series = "Proceedings of the 2017 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1405--1409",
booktitle = "Proceedings of the 2017 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017",
address = "美国",
}