Extension Adaptive Control of a High-speed and High-precision Three-axis Parallel Robot

摘要

In the paper a high-speed and high-precision three-axis parallel robot was studied as the research object and a kind of extension controller used for the control system was established. Seeing properties that the adaptive controller is good at dealing with the same and slowly time-varying problem and extension controller is good at dealing with time-varying and mutation problem. The advantages of the two kinds of controllers were combined and a new type of extension adaptive controller was developed. The simulation results show that the extension adaptive controller can greatly improve end implementation tracking precision of the parallel robot and satisfy the robot control requirements. The methods have broad prospect in application of the parallel robot control.