A Novel Virtual Reality Robot Interface for Isoglide3 Parallel Robot

摘要

This paper presents an IG3PR-VRI, a novel Virtual Reality (VR) interface for the control of the Isoglide3 Parallel Robot (IG3PR), an effective robotic device with three degrees of freedom manipulation. The IG3PR manipulator introduced in [24], offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construction on one hand, while or the other hand alleviating some of the typical shortcomings of parallel manipulators such as the extensive spherical joint use and the platform orientation and position coupling. The innovative user interface for high-level control of the Isoglide3 parallel robot presented in this paper IG3PR-VRI was verified and tested on the examples of path tracking performance, and results were presented in MATLAB, Simulink, and SimMechanics environment.