Robot manipulators have become a significant tool for production industries due to their advantages in high speed, accuracy, safety, and repeatability. This paper simulates and optimizes the design of a 3-DOF articulated robotic manipulator (RRR Configuration). The forward and inverse dynamic models are utilized. The trajectory is planned using the end effector's required initial position. A torque compute model is used to calculate the physical end effector's trajectory, position, and velocity. The MATLAB Simulink platform is used for all simulations of the RRR manipulator. With the aid of MATLAB, we primarily focused on manipulator control of the robot using a calculated torque control strategy to achieve the required position.
Safe Obstacle-Free Guidance of Space Manipulators in Debris Removal Missions via Deep Reinforcement Learning
Embodied Learning and Intelligence for eXploration and Innovative soft Robotics (ELIXIR) Lab, Toronto Metropolitan University, Toronto, ON, Canada（体现学习与智能探索与创新软机器人（ELIXIR）实验室，多伦多 Metropolitan 大学，多伦多，ON，加拿大）
Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
Safran Electronics & Defense（赛峰电子与防务公司）；Sorbonne Université（索邦大学）；Université de Paris Cité（巴黎西岱大学）；Inria Paris（法国国家信息与自动化研究所巴黎分部）；Nantes Université（南特大学）；École Centrale Nantes（南特中央理工学院）；CNRS（法国国家科学研究中心）
本文研究使用3-RRR Spherical Parallel Manipulator 实现惯性 Line Of Sight 稳定，通过运动学分析确保奇异轨迹远离工作空间，并基于 MATLAB Simulink 与 SimMechanics 模型实施控制策略以稳定视线。
Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization
