Research of Improvement of Path Follow-Up Performance of Robot

The mechanical simulation analysis of a 2-DOF parallel robot with Considering the dynamic disturbance torque was investigated. We devised a method to derive the position of the end effector using forward kinematics. We also requested inverse kinematics. Next, the operation region was calculated using this method. Using the model of the inertial system, we confirmed the difference in motion in the influence of the inertia term. We investigated the possibility of reducing the influence of the inertia term by using the moment of inertia at an appropriate value.