Dynamics modeling and integrated control of a spider parallel robot system

This work presents the dynamics modeling and integrated control approach for a novel spider parallel robot system. Inspired by spider leg motion, this robotic system achieves complex multi-degree-of-freedom movements and highprecision positioning. The study first develops a dynamics model using Lagrangian equations, incorporating the system's kinetic and potential energies. Kinematic analysis, encompassing both forward and inverse kinematics computations, is subsequently performed. Model validation is conducted via MATLAB/Simulink simulations to assess dynamic responses under diverse input signals. For integrated control, a layered architecture encompassing perception, decision, control, and execution layers is designed. The advantages and limitations of two distinct control modes—position control (Mode A) and velocity control (Mode B)—are analyzed, leading to a strategy for their flexible selection based on task requirements: Mode A for high-precision positioning tasks and Mode B for dynamic response tasks. An adaptive control mechanism is integrated to enhance the robot's adaptability in complex environments. Experimental results demonstrate the robot's velocity response exhibits effective adaptability under varying external load conditions, validating the proposed dynamics model and control strategy.