MATLAB Source Code for Parallel Robot Control Implementation
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Detailed Documentation
This MATLAB source code implements parallel robot control using an inverse kinematics-based algorithm to compute robot trajectories. Prior to execution, users must input the robot's initial position and target end position. The program automatically calculates required movement distance and direction, then controls robot joints to achieve motion through coordinate transformation matrices and joint angle computations. Additionally, the implementation includes real-time monitoring of robot posture and velocity parameters, with automatic adjustments performed when necessary using PID control loops. During runtime, users can visualize the robot's motion trajectory and monitor individual joint states through an interactive GUI interface that displays real-time data plots and joint parameter readouts. The code structure incorporates modular functions for kinematics calculations, trajectory planning, and closed-loop control implementation.
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