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

Table 5

Position errors of the sliders.

	Slider 1	Slider 2	Slider 3	Slider 4	Slider 5	Slider 6
Maximum error [mm]	0.57	0.40	0.93	0.30	0.30	0.38
Error percentage	0.23	1.00	0.26	0.30	0.73	0.22
RMS error [mm]	0.23	0.18	0.38	0.10	0.12	0.13