# Trajectory-tracking control of a planar 3-RRR parallel manipulator with singularity avoidance

@inproceedings{Nasa2011TrajectorytrackingCO, title={Trajectory-tracking control of a planar 3-RRR parallel manipulator with singularity avoidance}, author={Chaman Nasa and Sandipan Bandyopadhyay}, year={2011} }

Avoiding singularities while tracking a com- manded trajectory is an inherent challenge in any parallel manipulator. Off-line path planning and trajectory gener- ation can be used where the singularity manifold is rela- tively well-known, and/or amenable to mathematical anal- ysis. However, for manipulators such as the planar3-RRR, the singularity curve is of degree 42 for a given orientation of the moving platform, and therefore not very easy to either analyse or avoid during path planning. In…

## 13 Citations

### Dynamic singularity avoidance for parallel manipulators using a task-priority based control scheme

- Computer Science
- 2016

### Small-angle perturbation method for moving platform orientation to avoid singularity of asymmetrical 3-RRR planner parallel manipulator

- BusinessJournal of the Brazilian Society of Mechanical Sciences and Engineering
- 2019

To overcome the weakness of the present methods of singularity avoidance for 3-RRR planar parallel manipulator (PPM), a new method of avoiding singular points on planed paths in workspace via…

### Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

- Computer Science
- 2017

This paper presents a special type of planar parallel manipulator with three degrees of freedom constructed as a variable geometry truss generally known planar Stewart platform.

### Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller

- EngineeringInt. J. Autom. Comput.
- 2020

A proposed fractional order proportional integral derivative (FOPID) is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot.

### Workspace and singularity analysis of 3RRR planar parallel manipulator

- Engineering
- 2013

Nowadays, Planar Parallel Manipulators (PPMs) are widely used due to many inherent characteristics over the serial manipulator. In this paper, PPM with 3-RRR (revolute joints) configuration is…

### Design of Input Shaping Control for Planar Parallel Manipulators

- Engineering
- 2013

Parallel manipulators are well known for their superior stiffness, higher accuracy, lower inertia and faster response compared to the serial counterparts and hence is widely used for high-speed…

### Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator

- Engineering
- 2014

This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator. The research work covers experimental and numerical studies. First, an…

### An experimental study on open-loop position and speed control of a 3-RRR planar parallel mechanism

- Engineering2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM)
- 2015

This paper describes design, construction and control of a 3-RRR planar parallel mechanism. The focus is on experimental control methods using inverse kinematic problem in order to gain more accuracy…

### SLIDING MODE CONTROL OF 3-RPR PARALLEL ROBOT ON THE OPTIMAL PATH USING CUCKOO OPTIMIZATION ALGORITHM

- Computer Science
- 2015

It is concluded that based on the sliding mode control technique, the robot can follow the desired trajectory very precisely in spite of the presence of the uncertainties in length and mass of the robot's links.

### Position Control of a 3-DOF 3RRR Planar Parallel Manipulator Using Model Predictive Control

- Engineering, Computer Science
- 2013

This paper presents the position control of a 3-DOF 3-RRR planar parallel manipulator by using the model predictive control, and an experimental hardware-in-the-loop system is constructed.

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