Velocity Feedback Control with Anti-Interference for SCARA Parallel Five-bar Manipulator

Robotic manipulator, as an important robot system, have been widely used in various production and manufacturing tasks, such as automated manufacturing, logistics, and assembly. The parallel manipulator has a more stable structure, better rigidity, high repetitive positioning accuracy, no cumulative error, and faster speed compared to the serial manipulator. In this paper, this article mainly derives the formulas for inverse kinematics and velocity Jacobian, designs a closed-loop velocity controller, and verified by Matlab Simulink software. Later, the feasibility of the simulation is confirmed by building an experimental platform, further confirming the effectiveness of the theory. This article provides a reference and guidance for theoretical research and practical application in the field of manipulator control, aiming to achieve more efficient and stable manipulator control.