Parallel Robot Control with MATLAB Implementation

A MATLAB-based source program has been developed for parallel robot control, implementing fundamental kinematic algorithms and coordination mechanisms. The program architecture includes inverse kinematics calculations for individual joint control using transformation matrices and Jacobian-based methods. For multi-joint coordination, the system employs synchronized motion planning algorithms that ensure precise trajectory tracking through PID control loops. The modular design allows straightforward parameter adjustment via configuration files or GUI interfaces, supporting customization for various robotic configurations and application scenarios. Leveraging MATLAB's computational toolbox, the implementation utilizes built-in functions for matrix operations (e.g., inv(), pinv()) and numerical optimization (fmincon()) to solve complex kinematic equations efficiently. The object-oriented structure enables easy extension to different parallel robot architectures, with real-time simulation capabilities validating control strategies before hardware deployment.