A Study on the Position Control of a Spherical Parallel Robot Actuated by Pneumatic Muscle Actuators

The position control of a tendon driven, 3-DOF spherical parallel robot mechanism actuated by pneumatic muscle actuators is studied, including the kinematics model, track planning method, experimental test and control system and the control algorithm of intelligent PID and the inverse position solution. Relatively satisfactory experimental results are validated by the forward position solution of this mechanism.