Rapid control prototyping using matlab and dSpace. application for a planar parallel robot

The paper presents an approach for developing and testing the control system for a parallel structure using rapid control prototyping (RCP). The control algorithm is developed and simulated using Simulink, the implementation of the algorithms is made using the Matlab toolbox real time workshop and the DS1104 board from dSpace. The method is applied for a plan parallel robot with three degrees of freedom also known as 3-RRR parallel robot.