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My task is to apply forces to control 3-dof parallel manipulator. Forces are applied to linear actuators, friction is neglected. End-effector of a robot is supposed to follow generated path; for this example, let it be a simple circle. So far I have made a simplified 3d model of robot and calculated inverse kinematics.

3D model of robot

Promoter of my engineering work don't really know how to do this, but he said that calculating forward dynamics is too complex and i shouldn't go that way. Could you tell me what will be the easiest way to go?

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  • $\begingroup$ I'm not sure what you're asking. Are you trying to convert a desired end effector position to the desired positions of the 3 actuators? $\endgroup$
    – Ian
    Jan 13, 2014 at 0:56

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