Modeling and simulation of a real-time control system for a planar redundant parallel robot

We designed a real-time control system for a planar redundant parallel robot. Firstly, the hardware system was constructed, encompassing the structural design of a planar 2-DOF redundant parallel robot, the selection of servo motors, and the configuration of connecting rods. Subsequently, modeling of the parallel robot was carried out, which included the development of both forward and inverse kinematics models. Based on this foundation, a real-time control system was designed utilizing MATLAB’s Simulink and the gtrbox toolbox. Models for real-time control of both forward and inverse kinematics were established. The method and process for setting the origin position were elaborated in detail. Finally, through this integrated hardware and software platform, real-time co-simulation control of the parallel robot is achieved, providing a flexible experimental platform for research on kinematics and dynamics, including trajectory planning and velocity planning of parallel robots.