                SIMULATION OF 3-RRR PLANAR PARALLEL MANIPULATORS
                ************************************************

              by Ilian Bonev, ParalleMIC.org, bonev@parallemic.org


Introduction
************

This program consists of several MATLAB scripts used for simulation of 3-RRR
planar parallel manipulators with base mounted actuators. The program consists
essentially of a graphical user interface that allows the user to define
interactively the position and orientation of the mobile platform. At each
change in the pose, the inverse kinematic problem is solved and the new
configuration is plotted. Additionally, at each change in the orientation of
the mobile platform, the constant-orientation workspace is computed and plotted.


Flowchart and Script Explanation
********************************

                 |<--- Workspace.m 
                 | 
  RRR.m <-- RRR_GUI.m <--- RRR_draw.m <-- RotMat.m
              |  |                        | |
              |  |<-- traj_00.m <---------| |
              |<---- traj_01.m <------------|

  RRR.m:       the main program;
  RRR_GUI.m:   the script defining the Graphical User Interface;
  RRR_draw.m:  the script solving the inverse kinematics problem;
  Workspace.m: the script computing the constant-orientation worspace;
  RotMat.m:    the rotation matrix function;
  traj_00.m:   the script used in interactive mode (do not modify);
  traj_01.m:   a script containing a sample trajectory.


How Does It Work?
*****************

Execute RRR.m from the MATLAB prompt. Then, modify the pose of the mobile
platform through the three sliders and observe the resulting configuration.
To view a sample trajectory, select Trajectory 1 from the <Trajectory> menu.
Then, press <Run>.

Copyright Notice
****************

The current program is freeware. Permission is explicitly granted for unlimited
use of the program and for modifying of the source code. If you, however, find
the program useful, I will be glad to hear your comments.

