Two-Stage Method for Controlling the Movement of a Parallel Robot Based on a Planar Three-Revolute-Prismatic-Revolute Mechanism

  • Sergey Khalapyan
  • Larisa Rybak
  • Dmitry MalyshevEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1126)


A two-stage method for organizing control of a robot with parallel kinematics is proposed. The method involves the transfer of all complex resource-intensive computational procedures to the stage of the trajectory formation. During the operational control of the robot’s movement, a ready-made trajectory is used, recorded as points in the input coordinate space of the mechanism. Method application allows avoiding multiple solutions of the forward and inverse kinematics during the robot movement, significantly increasing the performance of the control system. Experimental verification of the method was carried out using the planar 3-RPR mechanism as an example.


Parallel robot Kinematic analysis Planar 3-RPR mechanism Operational control 



This work was supported by the Russian Science Foundation, the agreement number 16-19-00148.


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© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Stary Oskol Technological Institute named after A.A. Ugarov NUST MISiSStary OskolRussia
  2. 2.Belgorod State Technological University named after V.G. ShukhovBelgorodRussia

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