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

Table 3

Values of the maximum error and RMS of error in the desired robot workspace.

	Position or orientation	Maximum
		Sailboat	Wind turbine
Maximum error		0.68 mm	0.70 mm
		0.68 mm	0.70 mm
		0.4 mm	0.36 mm
	RMS error		0.35 mm	0.37 mm
			0.36 mm	0.38 mm
			0.28 mm	0.26 mm