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3RRR parallel robot

Instructions

You can download a simulator of the 3RRR parallel robot. The simulator allows you to simulate the forward and inverse kinematics, visualize singularities and workspace, and simulate the dynamic control of the robot.

Download the following three files and place them in the same folder. Run the file 3RRR.jar.

• The simulator (without control): 3RRR.jar
• The simulator (with control): 3RRR_control.jar
• File with the singularities, for the simulated geometry: js.txt
• File with the reduced configuration space, for the simulated geometry: CS.txt