Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Abstract. This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. The geometry parameters of the manipulator are optimized for a given constant orientation workspace. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of the multibody dynamics software namely MSC Adams. The computer-based virtual prototype experiment results show that the manipulator tracking performance is satisfactory with the proposed control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.