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

Table 6

Poses errors of the platform when adaptive-robust control is used.

	mm	mm	mm	degree	degree	degree
Maximum error	0.64	0.68	0.31	0.06	0.09	0.10
Error percentage	0.43	0.68	0.31	0.81	1.20	1.29
RMS error	0.18	0.16	0.11	0.02	0.02	0.02