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Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

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Academic year: 2020

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Figure

Figure 1. (a) Kinematic arrangement. (b) Solid (3-D) model of themanipulator. Conceptual design of the proposed manipulator.
Figure 2. Kinematic arrangement of ith leg of the proposed manip-ulator.
Figure 3. Block diagram representation of the proposed robust task-space control scheme.
Table 3. Controller parameters for the virtual prototype experi-ments.
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