Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach

Table 1

Parameters for simulation.

Parameter	Name	Value
	Mass of saddle	10 kg
	Mass of branched chain.	2 kg
	Mass of moving platform	15 kg
	Moment of inertia around - and -axis
	Length of branched chain	m
	Radius of constrained motion	m
	Distance between two frame	4 m
	Angular velocity of moving platform	0.02 π