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

Table 4

Conditions of maximum error and maximum RMS of the error.

	Position or orientation	Condition
		Sailboat	Wind turbine
Maximum error		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
RMS error		mov. ,	-mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,
		mov. ,	mov. ,