수정된 병렬형매니퓰레이터의 성능해석에 관한 연구

A Study on Performance analysis of a modified parallel manipulator

The Purpose of this study is analysis of kinematic for a modified manipulator and experimental test to certify auto-balancing operation. The test is carried out as follows. First, we solve the inverse kinematics and then do a closed loop control. Second we confirm translation displacement and rotation angle of a manipulator.