Adaptive back–stepping robust control of a 3–[P2(US)] parallel robot on optimal trajectory

Abstract

Parallel robots are widely used in various fields of engineering and industrial applications such as, machine tools, flight simulators, earthquake simulators, medical equipment and etc. However, they have some limitations such as small and complex workspace, combination of translational and rotational motions and clearance in joints. They are also restricted by other limitations such as existence of singular points which should be studied and analysed for effective and efficient use. Therefore, their complex dynamics and forward kinematics require a very sophisticated real time control.1–3