Impedance control of the 3RPS parallel manipulator

In this paper, a model-based impedance control has been developed for 3RPS parallel robot. The control law, that is considered as an integrated set of force control strategies, tunes the dynamic relation between force and motion variables. The kinematic and dynamic modeling of robot has been analyzed in this research. Then, the structure of the impedance controller and its features are introduced in the paper. Performance of the controller has been examined through simulations. In case of free motion, the closed loop system will provide suitable motion tracking. In addition, the interaction dynamics can be regulated with the help of proposed controller.