Implementation of force and position controllers for a 3DOF parallel manipulator

Abstract

The aim of this paper is to present the development of real-time controllers for a parallel manipulator (PM) of 3 degrees of freedom. The robot is able to generate one translation movement and two rotational movements (roll and pitch). Some applications for this type of manipulators can be found in driving simulation and biomechanics (rehabilitation of lower members, for example). An open control architecture has been implemented for this robot, allowing to implement and validate different dynamic control schemes for 3DOF PM. Thus, the developed robot can be used as a test bench to validate different control schemes. This article presents how several position and force control schemes have been implemented.