Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 8, issue 2
Articles | Volume 8, issue 2
https://doi.org/10.5194/ms-8-235-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-8-235-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 8, issue 2
Research article
 | 
28 Jul 2017
Research article |  | 28 Jul 2017

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

Santhakumar Mohan and Burkhard Corves

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Latest update: 25 Oct 2025
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Short summary
This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. 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 multibody dynamics software namely MSC Adams.
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