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

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.