PLANAR PARALLEL 3-RPR MANIPULATOR

@inproceedings{Williams1999PLANARP3,
  title={PLANAR PARALLEL 3-RPR MANIPULATOR},
  author={Robert L. Williams and Atul Ravindra Joshi},
  year={1999}
}
This paper describes the design, construction, and control of a planar three degree-of-freedom ( dof) inparallel-actuated manipulator at Ohio University. The actuators are three pneumatic cylinders. Using real-time closed-loop feedback control for each actuator length independently, we develop inverse pose and resolved-rate control for this manipulator. The objective of this work is to implement in hardware a 3RPR manipulator design and to evaluate parallel manipulator control using pneumatics… CONTINUE READING

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