Computed Torque Control for Parallel Robot Manipulator 3PPP

This simulation included : + Inverese kinematic of parallel robot manipulator 3PPP. +Dynamic model of parallel robot manipulator 3PPP.

This simulation was used in
[1] Le, Quang Dan, Hee-Jun Kang, and Tien Dung Le. "Adaptive extended computed torque control of 3 DOF planar parallel manipulators using neural network and error compensator." International Conference on Intelligent Computing. Springer, Cham, 2016.
[2] Le, Quang Dan, Hee-Jun Kang, and Tien Dung Le. "An adaptive position synchronization controller using orthogonal neural network for 3-DOF planar parallel manipulators." International Conference on Intelligent Computing. Springer, Cham, 2017.
[3] Doan, Quang Vinh, et al. "A neural network–based synchronized computed torque controller for three degree-of-freedom planar parallel manipulators with uncertainties compensation." International Journal of Advanced Robotic Systems 15.2 (2018): 1729881418767307.
Update:
The mechanism can download here https://1drv.ms/u/s!AuklswAzNqRfs3NpMT9GCOFfmdFw?e=Gkx1hM
then these file must be stay at same folder of simulation file
Or full in Github: https://github.com/LeQuangDan/3PPP-parallel-robot