Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Abstract This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by linear actuators. An experimental setup is designed and manufactured to actively isolate the host vehicle's disturbing motions. The kinematic analysis combined controller used disturbance rejection coming from base platform. Two inertia measurement units (IMU) are for real-time feedback up-per platforms' orientation. A Kalman filter implemented handling noises drifts IMUs data. Inverse kinematics calculating actuating commands velocity control motors. results proposed system shown. indicate its good capability in following reference input controller. Considering closed chain stiff architecture, this can be choice ground aerial vehicles.