Error Analysis and Adaptive-Robust Control of a 6-DoF Parallel Robot with Ball-Screw Drive Actuators

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/4938562/figures/4938562.fig.008a.svgz" name="4938562.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Maximum error of TCP position</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/4938562/figures/4938562.fig.008b.svgz" name="4938562.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Maximum error of mobile platform orientation</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/4938562/figures/4938562.fig.008c.svgz" name="4938562.fig.008c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>RMS error of TCP position</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/4938562/figures/4938562.fig.008d.svgz" name="4938562.fig.008d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>RMS error of mobile platform orientation</td></tr></table>

<div>Maximum and RMS of pose error when sailboat is installed on platform.</div>

Journal of Robotics

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Figure 8

Figure 8: Error Analysis and Adaptive-Robust Control of a 6-DoF Parallel Robot with Ball-Screw Drive Actuators 