Kinematics simulation and control of a new 2 DOF parallel mechanism based on Matlab/SimMechanics

Author

Deng, Wenbin ; Lee, Jae-Won ; Lee, Hyuk-Jin

Author_Institution

Dept. of Mech. Eng., Yeungnam Univ., Geyongsan, South Korea

Volume

3

fYear

2009

fDate

8-9 Aug. 2009

Firstpage

233

Lastpage

236

Abstract

This paper proposes a new method of modeling and simulation of a new 2 DOF parallel mechanism based on Matlab/SimMechanics. We also design a controller under the environment of Simulink and SimMechanics to satisfy the performance requirement for making the end-effector track of the reference trajectory. Simulation results and performance of the control system are presented in detail. The test results reveal its reliability and accuracy greatly. It indicates that SimMechanics can be used for designing nonlinear system and other mechatronic system.

Keywords

industrial robots; mechatronics; nonlinear control systems; position control; robot kinematics; DOF parallel mechanism; Matlab-SimMechanics; degrees of freedom; industrial robot; kinematics simulation; mechatronic system; nonlinear system; reference trajectory; Analytical models; Animation; Communication system control; Computational modeling; Control system synthesis; Manipulator dynamics; Mathematical model; Mechanical systems; Robot kinematics; Service robots; Kinematics control; Parallel mechanism; SimMechanics; Simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing, Communication, Control, and Management, 2009. CCCM 2009. ISECS International Colloquium on

Conference_Location

Sanya

Print_ISBN

978-1-4244-4247-8

Type

conf

DOI

10.1109/CCCM.2009.5267894

Filename

5267894