Newton-Euler method for dynamic modeling and control of parallel polishing manipulator

Using parallel manipulator into free-form surface polishing process has become a kind of trend, the parallel polishing manipulator system with dynamic feed-forward control which can improve the system response speed and control precision. This will guarantee the practical application and commercially of the parallel polishing machine tool. This paper bases on five degree of freedom parallel polishing manipulator, established D-H coordinate system for each leg, and then built up the dynamics equations by Newton-Euler method. Designed the computed torque controller and simulated respective in MATLAB.