Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine

Yangmin Li, Qingsong Xu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

77 Citations (Scopus)


The dynamic modeling and robust control for a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) with translational motion have been investigated in this paper. By introducing a mass distribution factor, the simplified dynamic equations have been derived via the virtual work principle and validated on a virtual prototype with the ADAMS software package. Based upon the established model, three dynamics controllers have been attempted on the 3-PRC PKM. The intuitive co-simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of neither inverse dynamics control nor robust inverse dynamics control is satisfactory in the presence of parametric uncertainties in PKM dynamics. On the contrary, the controller based on the passivity-based robust control scheme is more suitable for tracking control of the PKM in terms of both control performances and controller design procedures. The results presented in the paper provide a sound base for both the mechanical system design and control system design of a 3-PRC PKM.
Original languageEnglish
Pages (from-to)630-640
Number of pages11
JournalRobotics and Computer-Integrated Manufacturing
Issue number3
Publication statusPublished - 1 Jun 2009
Externally publishedYes


  • Inverse dynamics
  • Parallel robots
  • Robust control
  • Tracking control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Software
  • General Mathematics
  • Industrial and Manufacturing Engineering


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