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The Control Simulation of the 6-DOF Parallel Manipulator

Excerpt

This paper presents the control simulation of the 6-DOF parallel manipulator. The 6-DOF parallel manipulator consist of fix base and moveable platform coupled together by the six electrical actuators, each of which has two universal joints. This paper explains the modeling and simulation of the 6-DOF parallel manipulator consist of inverse kinematics, dynamic equations of motion of the 6-DOF parallel manipulator is expressed by the Lagrange formulation and computer model of control scheme using Simulink. The simulation results are presented.

  • Abstract
  • Key Words
  • 1. Introduction
  • 2. Kinematics Model
  • 3 Dynamics Model
  • 4 Controller Control Scheme
  • 5. The Simulation Results
  • 6. Conclusions
  • Acknowledgments
  • References

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