Dynamic considerations and motion control experiments for a parallel direct-drive robot arm

The authors discuss the inverse dynamics of parallel robot arms with closed-chain mechanical structure and show the implications for motion control using nonlinear inversion. They demonstrate the experimental motion control results for the prototype parallel direct-drive robot arm, which is based on a spatial 5-bar linkage with 3 degrees of freedom, using a variety of control algorithms. Finally they present certain results for the dynamic parameters of the arm, which are relevant to their identification. >